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Collaborating Robots: Multi-robot Exploration of an Unknown Environment
(Master thesis, 2014)This thesis aims to develop and implement an algorithm for collaboration, such that two LEGO-robots can collaborate on mapping an unknown area using infrared sensors, a simultaneous localization and mapping (SLAM) algorithm ... -
Collaborative Collision Avoidance for Autonomous Ships Using Informed Scenario-Based Model Predictive Control
(Peer reviewed; Journal article, 2022)There exist several collision avoidance algorithms for autonomous ships. But the majority of them do not utilize information about other ships’ intentions, except for observed position and velocity. As the attention for ... -
Collaborative collision avoidance for Maritime Autonomous Surface Ships: A review
(Peer reviewed; Journal article, 2022)Collision avoidance algorithms for autonomous ships are frequently proposed, but very few studies consider the interaction and information exchange between ships, and if they do, this is usually limited to only between ... -
A collision avoidance algorithm with intention prediction for inland waterways ships
(Chapter, 2023)Collision avoidance is one of the most challenging problems in developing a Maritime Autonomous Surface Ship. This paper proposes a new collision avoidance algorithm for inland waterway ships. The algorithm addresses the ... -
A collision avoidance algorithm with intention prediction for inland waterways ships
(Chapter, 2023)Collision avoidance is one of the most challenging problems in developing a Maritime Autonomous Surface Ship. This paper proposes a new collision avoidance algorithm for inland waterway ships. The algorithm addresses the ... -
Collision Avoidance Algorithms for Unmanned Surface Vehicle-Based Formation Control Applications
(Master thesis, 2010)This thesis is the result of work focusing on collision avoidance in connection with formation control for unmanned surface vehicles (USVs) using coordinated target tracking. Especially utilization of such vessels in marine ... -
Collision avoidance and motion control for autonomous surface vehicles
(Doctoral theses at NTNU;2019:230, Doctoral thesis, 2019)This thesis presents topics related to collision avoidance (COLAV) and motion control for autonomous surface vehicles (ASVs). The thesis contains a collection of nine publications, of which six are peer-reviewed conference ... -
Collision Avoidance and Path Following for Underactuated Marine Vehicles
(Doctoral theses at NTNU;2019:103, Doctoral thesis, 2019)In this thesis we propose and investigate a collision avoidance algorithm for underactuated marine vehicles, both in two and three dimensions. We also investigate the stability properties of a path following algorithm for ... -
Collision avoidance for ASVs through trajectory planning: MPC with COLREGs-compliant nonlinear constraints
(Peer reviewed; Journal article, 2022)This article presents a trajectory planning method for autonomous surface vessels that is compliant with Rule 8 and rules 13-17 from the Convention on the International Regulations for Preventing Collisions at Sea (COLREGs). ... -
Collision Avoidance for ASVs Using Model Predictive Control
(Master thesis, 2017)If an Autonomous Surface Vehicle (ASV) is to be operated at sea in the proximity of other vessels it must be equipped with a Collision Avoidance System (CAS). This system must comply with the rules for avoiding collision ... -
Collision Avoidance for Autonomous Ships in Transit
(Master thesis, 2018)The interest in fully autonomous marine vessels has exploded in the last years. Many companies have developed and tested systems for autonomous marine vessels with great success. This thesis is part of a project where the ... -
Collision Avoidance for Autonomous Surface Vehicles Using Velocity Obstacle and Set-Based Guidance.
(Master thesis, 2016)A good and reliable collision avoidance method is essential when operating Autonomous Surface Vehicles (ASVs) at sea. But even though avoiding collisions is the most important part, making sure the ASV's evasive maneuvers ... -
Collision Avoidance for Multirotor Inspection
(Master thesis, 2018)During the last couple of years, the goal of using unmanned aerial vehicles (UAV) for inspection purposes has become within reach. This thesis considers the different algorithms for implementing a high level controller for ... -
Collision Avoidance for Two Autonomous USVs in Formation With Maneuvering Limitations
(Master thesis, 2023)Denne oppgaven omhandler kollisjonsunngåelse med hindringer for de to ubemannede underaktuerte overflatefartøyene (USV) Frigg og Odin. USV-ene drar et minesveipsystem etter seg, som begrenser USV-ene til å kjøre i en ønsket ... -
Collision Avoidance for Underactuated Marine Vehicles Using the Constant Avoidance Angle Algorithm
(Journal article; Peer reviewed, 2019)Avoiding collisions is a crucial ability for unmanned vehicles. In this paper, we present the constant avoidance angle algorithm, a reactive method for collision avoidance. It can be used to avoid both static and moving ... -
Collision Avoidance for Underactuated Surface Vehicles in the Presence of Ocean Currents
(Journal article; Peer reviewed, 2022)This paper considers the problem of collision avoidance for surface vehicles moving under the influence of ocean currents. The vehicles we consider have underactuated dynamics, where the vehicle cannot directly control its ... -
Collision Avoidance for Unmanned Surface Vehicles
(Master thesis, 2008)Considerable progress has been achieved in recent years with respect to autonomous vehicles. A good example is the DARPA Grand Challenge, a competition for autonomous ground vehicles. None of the competing vehicles managed ... -
Collision avoidance of autonomous ships in inland waterways – A survey and open research problems
(Peer reviewed; Journal article, 2023)Promoting autonomous surface ships in inland waterways traffic (IWT) is a potential solution towards reducing road traffic and transport emission footprints. Over the last decade, there has been a growing research on ... -
Collision Avoidance System for Ships Utilizing Other Vessels’ Intentions
(Master thesis, 2020)Før autonome skip kan bli kommersielt akseptert, må de være trygge nok. Å ha et automatisk antikollisjonssystem som følger navigasjonsreglene (COLREGs), er et viktig steg mot å gjøre autonome skip tryggere. Det finnes ... -
Collision Avoidance using Mixed H2/H∞ Control for an Articulated Intervention-AUV
(Chapter, 2020)In this paper we consider the problem of mixed H 2 /H ∞ control to combine optimal and robust control for a double integrator system with nonlinear performance variables, and we apply this to control an articulated ...