Search for dissertations about: "George Nikolakopoulos"

Showing result 1 - 5 of 10 swedish dissertations containing the words George Nikolakopoulos.

  2. 1. The Core of Aerial Robotic Workers : Generalized Modeling, Estimation, and Control

    Author : Emil Fresk; George Nikolakopoulos; Thomas Gustafsson; Ming Cao; Luleå tekniska universitet; []
    Keywords : ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Aerial robotics; generalized modeling; generalized estimation; generalized control; Reglerteknik; Control Engineering;

    Abstract : In this thesis we are going to explore what the operational core, both mathematically and algorithmically, of an Aerial Robotic Worker consists of, in order to estimate its egomotion and parameters, and adaptively control the aerial vehicle. Moreover, the aim of this thesis is to be a condensed reference for the corresponding areas of aerial robotics, in order to provide a stable and complete foundation on which one can continue research on. READ MORE

  4. 2. Perception Aware Guidance Framework for Micro Aerial Vehicles

    Author : Christoforos Kanellakis; George Nikolakopoulos; Danica Kragic; Luleå tekniska universitet; []
    Keywords : ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; perception driven control for MAVs; aerial inspection; vision based guidance for aerial manipulation; robots in low-light environments; Reglerteknik; Control Engineering;

    Abstract : Micro Aerial Vehicles (MAVs) are platforms that have received significant research resources within robotics community, since they are characterized by simple mechanical design and versatile movement. These platforms possess capabilities that are suitable for complex task execution, in situations which are impossible or dangerous for the human operator to perform, as well as to reduce the operating costs and increase the overall efficiency of the operation. READ MORE

  5. 3. Risk Aware Path Planning and Dynamic Obstacle Avoidance towards Enabling Safe Robotic Missions

    Author : Samuel Karlsson; George Nikolakopoulos; Georgia Chalvatzaki; Luleå tekniska universitet; []
    Keywords : ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Robotic; Path planning; Obstacle avoidanc; Robotic missions; licenti thesis; Robotics and Artificial Intelligence; Robotik och artificiell intelligens;

    Abstract : This compilation thesis presents two main contributions in path planning and obstacle avoidance, as well as an integration of the proposed modules with other frameworks to enable resilient robotic missions in complex environments.In general, through different types of robotic missions it is important to have a collision tolerant and reliable system, both regarding potential risks from collisions with dynamic and static obstacles, but also to secure the overall mission success. READ MORE

  6. 4. On the utilization of Nonlinear MPC for Unmanned Aerial Vehicle Path Planning

    Author : Björn Lindqvist; George Nikolakopoulos; Dimos Dimarogonas; Luleå tekniska universitet; []
    Keywords : ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Unmanned Aerial Vehicles; Obstacle Avoidance; Collision Avoidance; Nonlinear MPC; Model Predictive Control; Multi-agent Systems; Dynamic Obstacles; Robotics and Artificial Intelligence; Robotik och artificiell intelligens;

    Abstract : This compilation thesis presents an overarching framework on the utilization of nonlinear model predictive control(NMPC) for various applications in the context of Unmanned Aerial Vehicle (UAV) path planning and collision avoidance. Fast and novel optimization algorithms allow for NMPC formulations with high runtime requirement, as those posed by controlling UAVs, to also have sufficiently large prediction horizons as to in an efficient manner integrate collision avoidance in the form of set-exclusion constraints that constrain the available position-space of the robot. READ MORE

  7. 5. On Autonomous Deployment of Micro Aerial Field Vehicles

    Author : Sina Sharif Mansouri; George Nikolakopoulos; António Pedro Aguiar; Luleå tekniska universitet; []
    Keywords : ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Reglerteknik; Control Engineering;

    Abstract : In this thesis, I am going to investigate the control, navigation and path planning frame-works forMicro Aerial Vehicles (MAVs), both mathematically and algorithmically. Inorder to deploy them in challenging real life applications and with a main focus on theunderground mine navigation and wind turbine inspection. READ MORE