Essays about: "NMPC"

Showing result 1 - 5 of 11 essays containing the word NMPC.

1. 1. Ensuring safe docking maneuvers on floating platform using Nonlinear Model Predictive Control (NMPC)

   University essay from Luleå tekniska universitet/Institutionen för system- och rymdteknik

   Author : Federico Gatti; [2024]
   Keywords : Robotics; Space Engineering; Docking Maneuvers; Floating Platforms; Nonlinear MPC; MPC; Barrier function; PWM;

   Abstract : Docking maneuvers are a relevant part of the modern space mission, requiring precision and safety to ensure the success of the overall mission. This thesis proposes using a non-linear Model Predictive Control (MPC) as a controller with various constraints to ensure safe docking maneuvers for a satellite. READ MORE

3. 2. Multi-robot coordination and planning with human-in-the-loop under STL specifications : Centralized and distributed frameworks

   University essay from KTH/Skolan för elektroteknik och datavetenskap (EECS)

   Author : Yixiao Zhang; [2023]
   Keywords : Multi-agent systems; Human-in-the-loop systems; Signal temporal logic; Cooperative control; ROS Implementation; Multi-agent-system; Människa-i-loop-system; Signaltemporallogik; Samarbetande styrning; ROS-implementering;

   Abstract : Recent urbanization and industrialization have brought tremendous pressure and challenges to modern autonomous systems. When considering multiple complex tasks, cooperation and coordination between multiple agents can improve efficiency in a system. READ MORE

4. 3. Latency-aware edge server for safe autonomous driving

   University essay from KTH/Skolan för elektroteknik och datavetenskap (EECS)

   Author : Mustafa Adnan; [2021]
   Keywords : ;

   Abstract : This thesis examines how a smart edge server, that communicates with autonomous vehicles in an intersection, could contribute to the safety of autonomous driving. Safe path planning is possible when an autonomous vehicle is aware of its surroundings such as obstacles, pedestrians, and other vehicles. READ MORE

5. 4. Path Following Model Predictive Control for Center-Articulated Vehicles

   University essay from Uppsala universitet/Signaler och system

   Author : Gustav Vallinder; [2021]
   Keywords : NMPC; MPC; nonlinear model predictive control; model predictive control; path following; mining vehicles.;

   Abstract : Increased safety and productivity are driving factors for the trend in the mining industry where equipment and machines increasingly get automated. An example is the load-haul-dump vehicle, which is a machine that is used for transport of ore in underground mines. READ MORE

6. 5. Combined Control and Path Planning for a Micro Aerial Vehicle based on Non-linear MPC with Parametric Geometric Constraints

   University essay from Luleå tekniska universitet/Rymdteknik

   Author : Björn Lindqvist; [2019]
   Keywords : Non-linear MPC; MAV; Path Planning; Obstacle Avoidance; Robotics; UAV; MPC;

   Abstract : Using robots to navigate through un-mapped environments, specially man-made infrastructures, for the purpose of exploration or inspection is a topic that has gathered a lot of interest in the last years. Micro Aerial Vehicles (MAV's) have the mobility and agility to move quickly and access hard-to-reach areas where ground robots would fail, but using MAV's for that purpose comes with its own set of problems since any collision with the environment results in a crash. READ MORE