Essays about: "space robotics"

Showing result 6 - 10 of 56 essays containing the words space robotics.

1. 6. Braids and configuration spaces

   University essay from Uppsala universitet/Geometri och fysik

   Author : Andersson Rasmus; [2023]
   Keywords : braids; braid groups; configuration space; algebraic topology; group theory; fundamental group; covering spaces;

   Abstract : A configuration space is a space whose points represent the possible states of a given physical system. As such they appear naturally both in theoretical physics and technical applications. READ MORE

3. 7. Improving Behavior Trees that Use Reinforcement Learning with Control Barrier Functions : Modular, Learned, and Converging Control through Constraining a Learning Agent to Uphold Previously Achieved Sub Goals

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

   Author : Jannik Wagner; [2023]
   Keywords : Behavior Trees; Reinforcement Learning; Control Barrier Functions; Robotics; Artificial Intelligence; Verhaltensbäume; Verstärkendes Lernen; Kontrollbarrierefunktionen; Robotik; Künstliche Intelligenz; Beteendeträd; Förstärkningsinlärning; Kontrollbarriärfunktioner; Robotik; Artificiell Intelligens;

   Abstract : This thesis investigates combining learning action nodes in behavior trees with control barrier functions based on the extended active constraint conditions of the nodes and whether the approach improves the performance, in terms of training time and policy quality, compared to a purely learning-based approach. Behavior trees combine several behaviors, called action nodes, into one behavior by switching between them based on the current state. READ MORE

4. 8. Rapidly-Exploring Random Trees for real-time combined Exploration andPath Planning

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

   Author : Kalle Löfgren; [2023]
   Keywords : Robotics; RRT; ERRT; Exploration; Autonomous exploration; path planning; goal generation;

   Abstract : The use of micro aerial vehicles (MAV) for civilian use such as exploration and inspection of varying structures, equipment and areas have garnered some interest as of late. MAVs have the mobility and agility to traverse three dimensional space quickly and access hard to reach areas where other alternatives would struggle, but a flying platform such as a MAV comes with it’s own set of distinct problems. READ MORE

5. 9. Multi-agent route planning for uncrewed aircraft systems operating in U-space airspace

   University essay from Linköpings universitet/Artificiell intelligens och integrerade datorsystem

   Author : Yohan Ayoub; [2023]
   Keywords : MAPF; multi-agent systems; multi-agent path finding; U-space; UAV; UAS; search algorithms;

   Abstract : Society today brings a high pace development and demand of Artificial intelligence systems as well as robotics. To further expand and to take one step closer to have Unmanned Aerial Vehicles (UAVs) working in the cities, the European Union Aviation Safety Agency launched a project that introduces U-space airspace, an airspace where UAVs, for instance, are allowed to operate for commercial services. READ MORE

6. 10. Application of Discrete Time High Order Control Barrier Functions for a prototype multi-spacecraft inspection of the ISS

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

   Author : Gregorio Marchesini; [2023]
   Keywords : Space Robotics; Control Barrier Functions; Autonomous systems; Multi-agent systems;

   Abstract : In the past few years, the application of Control Barrier Functions (CBF) and High Order Control Barrier Functions (HOCBF) as a suitable framework to ensure safety for autonomous systems has attracted increasing interest. In particular, autonomous space systems are frequently subject to safety-critical constraints due to the high costs involved in manufacturing and launching. READ MORE