Blar i NTNU Open på forfatter "Grøtli, Esten Ingar"
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On the globally exponentially convergent immersion and invariance speed observer for mechanical systems
Arbo, Mathias Hauan; Grøtli, Esten Ingar; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2017)In this article we present a reformulation of the invariance and immersion speed observer of Astolfi et al. as applied to mechanical systems with bounded inertia matrices. This is done to explore the possibility of its ... -
Optimal trajectory planning for robotized tiling of floors
Nornes, Stein Melvær (Master thesis, 2013)This thesis describes the strategy of a new approach for automated tilesetting currently under development by nLink AS in Sogndal. The main focus of the thesis is the development of an appropriate strategy for path planning ... -
Path planning for UAV harvesting information from dynamical wireless sensor nodes at sea
Ho, Tu Dac; Grøtli, Esten Ingar; Johansen, Tor Arne (Chapter, 2022)A system of several wireless sensor nodes and one unmanned aerial vehicle (UAV) is considered in this research. The nodes are only floating and drifting with the sea stream. The UAV will be operating as a data mule to ... -
Path planning for UAV harvesting information from dynamical wireless sensor nodes at sea
Ho, Tu Dac; Grøtli, Esten Ingar; Johansen, Tor Arne (Chapter, 2022)A system of several wireless sensor nodes and one unmanned aerial vehicle (UAV) is considered in this research. The nodes are only floating and drifting with the sea stream. The UAV will be operating as a data mule to ... -
Perception for obstacle-aided locomotion of snake robots
Lerø, Fredrik Leine (Master thesis, 2017)The goal of this project was to provide an obstacle-aided snake robot with improved perceptual capability. This implies ensuring that objects located in the snakes' close proximity get a high resolution digital representation. ... -
PSO and Kalman Filter-Based Node Motion Prediction for Data Collection from Ocean Wireless Sensors Network with UAV
Ho, Tu Dac; Grøtli, Esten Ingar; Johansen, Tor Arne (Peer reviewed; Journal article, 2021)In this paper, we consider a wireless sensor network of nodes at the sea surface drifting due to wind and sea currents. In our scenario an Unmanned Aerial Vehicle (UAV) will be used to gather data from the sensor nodes. ... -
Real-time temporal adaptation of dynamic movement primitives for moving targets
Østvik, Andreas; Grøtli, Esten Ingar; Vagia, Marialena; Gravdahl, Jan Tommy (Chapter, 2021) -
Realizing LTI models by identifying characteristic parameters using least squares optimization
Nicolai, Tim; Haring, Mark; Grøtli, Esten Ingar; Gravdahl, Jan Tommy; Reger, Johann (Chapter, 2023)This paper considers the realization of discrete-time linear time-invariant dynamical systems using input-output data. Starting from a generalized state-space representation that accounts for static offsets, a state-independent ... -
Robotic Bin-Picking under Geometric End-Effector Constraints: Bin Placement and Grasp Selection
Gravdahl, Irja; Seel, Katrine; Grøtli, Esten Ingar (Chapter, 2019)In this paper we demonstrate how path reachability can be taken into account when selecting among predetermined grasps in a bin-picking application, where grasps are supplied independently of the robot at hand. We do this ... -
Robust stability and control of spacecraft formations
Grøtli, Esten Ingar (Doktoravhandlinger ved NTNU, 1503-8181; 2010:1, Doctoral thesis, 2010)The work of this thesis is focused on the robustness of control laws for space-craft formation. Robustness in this case refers to the ability of the system to withstand persistent perturbations, and to keep some of the ... -
Robustness and Stability of Long Short-Term Memory Recurrent Neural Networks
Peci, Edmond (Master thesis, 2021)Denne masteroppgaven har som mål å studere robusthet og stabilitet i lys av den populære rekurrente nevrale nettverkstypen 'lang kortidsminne' (long short-term memory) i møte med perturbert inngangsdata and pertubasjoner ... -
Robustness of ISS systems to inputs with limited moving average: Application to spacecraft formations
Grøtli, Esten Ingar; Panteley, Elena; Chaillet, Antoine; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2016)We provide a theoretical framework that fits realistic challenges related to spacecraft formation with disturbances. We show that the input-to-state stability of such systems guarantees some robustness with respect to a ... -
Safe reinforcement learning for control-affine systems with probabilistic safety constraints
Olsen, Sondre (Master thesis, 2021)Forsterkende læring holder løfte om å gjøre det mulig for autonome systemer å tilegne seg nye ferdigheter uten menneskelig innblanding, og i senere år er det gjort betydelige fremskritt innen måter å lære optimale ... -
Semiglobal exponential stability of a counter-current and co-current guidance scheme
Caharija, Walter; Grøtli, Esten Ingar; Pettersen, Kristin Ytterstad (Journal article; Peer reviewed, 2018)A control technique for counter-current and co-current guidance of underactuated marine vehicles is revisited and stronger stability properties are shown. In particular, the stronger property of uniform semiglobal exponential ... -
Torque-Minimizing Control Allocation for Overactuated Quadrupedal Locomotion
Lysø, Mads Erlend Bøe; Grøtli, Esten Ingar; Pettersen, Kristin Ytterstad (Chapter, 2023)In this paper, we improve upon a method for optimal control of quadrupedal robots which utilizes a full-order model of the system. The original method utilizes offline nonlinear optimal control to synthesize a control ... -
Trajectory Tracking for Fixed-Base and Floating-Base Robot Manipulators: A Gaussian Process-Based Model Predictive Control Approach
Brandt, Martin Albertsen (Master thesis, 2021)Modellprediktiv regulering (MPC) er et nyttig rammeverk for banefølging med robotmanipulatorer. Ytelsen er derimot avhengig av en nøyaktig model av dynamikken til systemet, som spesielt for robotmanipulatorer med flytende ... -
Trends in Smart Manufacturing: Role of Humans and Industrial Robots in Smart Factories
Evjemo, Linn Danielsen; Gjerstad, Tone Beate; Grøtli, Esten Ingar; Sziebig, Gabor (Peer reviewed; Journal article, 2020)Purpose of Review This paper provides an overview of the role of humans and robots in smart factories, their connection to Industry 4.0, and which progress they make when it comes to related technologies. Recent Findings ... -
Uncertainty Estimation in Neural Networks
Hegsvold, Siri Holde (Master thesis, 2022)Denne masterrapporten vil se på metoder for usikkerhetsestimering av nevrale nettverk. For å begrense omfanget er bruksområdet for disse nevrale nettverkene landbaserte prosessindustrier. Hovedfokuset vil være usikkerheten ... -
Use of Augmented Reality in Aquaculture
Stene, Anders (Master thesis, 2019)I utvidet virkelighet(eng: Augmented reality) brukes datamaskin-genererte objekter og visualiseringer til å forbedre oppfatningen av virkeligheten, gjennom å legge til mer klarhet og data. I løpet av de siste årene har ... -
Vive for Robotics
Astad, Morten Andre (Master thesis, 2019)Bruken av en HTC Vive; et system for virtuell virkelighet og dets innovative sporingsteknologi er utforsket for å opprette en tilnærmet en-til-en avbildning til den virtuelle representasjonen av en robot celle. Denne ...