Blar i NTNU Open på forfatter "Matous, Josef"
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Comparison of Grid-Based Coverage Path Planning Methods in Planar Environments
Naqibi, Siawash (Master thesis, 2022)Coverage path planning (CPP) omhandler oppgaven å kunne utregne en vei som passerer gjennom alle punkter av et areal eller et volum og samtidig unngå objekter. CPP er brukt i mange applikasjoner sånn som autonome støvsugere, ... -
Cooperative Control of Formations of Underwater Vehicles
Matous, Josef (Doctoral theses at NTNU;NTNU, 2023:347, Doctoral thesis, 2023)This thesis investigates various control algorithms for marine vehicles. Most of the algorithms proposed in the thesis address the formation path-following problem for a fleet of underactuated autonomous underwater vehicles, ... -
Decentralized Model Predictive Control for Increased Autonomy in Fleets of ROVs
Staurnes, Tor Harald; Kjærem, Pål Kristoffer; Fosso, Lauritz Rismark; Johannesen, Kristian Aasmundstad (Bachelor thesis, 2023)Denne oppgaven dokumenterer design og implementering av en desentralisert modellprediktiv reguleringsarkitektur i et sett med BlueROV2 Heavy. Oppgaven dekker matematisk modellering av undervannsfarkosten, design av MPC, ... -
Distributed MPC for Formation Path-Following of Multi-Vehicle Systems
Matous, Josef; Varagnolo, Damiano; Pettersen, Kristin Ytterstad; Paliotta, Claudio (Peer reviewed; Journal article, 2022)The paper considers the problem of formation path-following of multiple vehicles and proposes a solution based on combining distributed model predictive control with parametrizations of the trajectories of the vehicles ... -
Unifying Reactive Collision Avoidance and Control Allocation for Multi-Vehicle Systems
Matous, Josef; Basso, Erlend Andreas; Thyri, Emil Hjelseth; Pettersen, Kristin Ytterstad (Chapter, 2021)To enable autonomous vehicles to operate in cluttered and unpredictable environments with numerous obstacles, such vehicles need a collision avoidance system that can react to and handle sudden changes in the environment. ...