Search for dissertations about: "Mobile Robotic Systems"

Showing result 1 - 5 of 32 swedish dissertations containing the words Mobile Robotic Systems.

  2. 1. Reactive control and coordination of redundant robotic systems

    Author : Yuquan Wang; Petter Ögren; Abderrahmane Kheddar; KTH; []
    Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; reactive control; dual-arm manipulation; mobile manipulation; ambulance positioning.; Computer Science; Datalogi;

    Abstract : Redundant robotic systems, in terms of manipulators with one or twoarms, mobile manipulators, and multi-agent systems, have received an in-creasing amount of attention in recent years. In this thesis we describe severalways to improve robotic system performance by exploiting the redundancy. READ MORE

  4. 2. A Formal Approach for Designing Distributed Self-Adaptive Systems

    Author : Didac Gil de la Iglesia; Danny Weyns; Marcelo Milrad; Jesper Andersson; Luciano Baresi; Linnéuniversitetet; []
    Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Self-Adaptive systems; Formal Methods; MAPE-K; Robustness; Openness; Mobile Learning; Computer Science; Datavetenskap; Media Technology; Medieteknik;

    Abstract : Engineering contemporary distributed software applications is a challenging task due to the dynamic operating conditions in which these systems have to function. Examples are dynamic availability of resources, errors that are difficult to predict, and changing user requirements. READ MORE

  5. 3. Indoor Navigation for Mobile Robots : Control and Representations

    Author : Philipp Althaus; KTH; []
    Keywords : mobile robots; robot navigation; indoor navigation; behaviour based robotics; hybrid deliberative systems; dynamical systems approach; topological maps; symbol anchoring; autonomous mapping; human-robot interaction;

    Abstract : This thesis deals with various aspects of indoor navigationfor mobile robots. For a system that moves around in ahousehold or office environment,two major problems must betackled. First, an appropriate control scheme has to bedesigned in order to navigate the platform. Second, the form ofrepresentations of the environment must be chosen. READ MORE

  6. 4. Online trajectory planning and observer based control

    Author : David A. Anisi; Xiaoming Hu; Daizhan Cheng; KTH; []
    Keywords : NATURVETENSKAP; NATURAL SCIENCES; Computational Optimal Control; Receding Horizon Control; Mission Uncertainty; Safety; Task Completion; Consensus Problem; Simultaneous Arrival; Adaptive Grid Methods; Missile Guidance; Nonlinear Observer Design; Active Observers; Non--uniformly Observable Systems; Mobile Robotic Systems; Intrinsic Observers; Differential Geometric Methods; Euler-Lagrange Systems; Contraction Analysis.; Optimization; systems theory; Optimeringslära; systemteori;

    Abstract : The main body of this thesis consists of four appended papers. The first two consider different aspects of the trajectory planning problem, while the last two deal with observer design for mobile robotic and Euler-Lagrange systems respectively. READ MORE

  7. 5. On Cooperative Surveillance, Online Trajectory Planning and Observer Based Control

    Author : David A. Anisi; Xiaoming Hu; Randal Beard; KTH; []
    Keywords : NATURVETENSKAP; NATURAL SCIENCES; Surveillance Missions; Minimum-Time Surveillance; Unmanned Ground Vehicles; Connectivity Constraints; Combinatorial Optimization; Computational Optimal Control; Receding Horizon Control; Mission Uncertainty; Safety; Task Completion; Adaptive Grid Methods; Missile Guidance; Nonlinear Observer Design; Active Observers; Non--uniformly Observable Systems; Mobile Robotic Systems; Intrinsic Observers; Differential Geometric Methods; Euler-Lagrange Systems; Contraction Analysis.; Optimization; systems theory; Optimeringslära; systemteori; Applied mathematics; Tillämpad matematik;

    Abstract : The main body of this thesis consists of six appended papers. In the  first two, different  cooperative surveillance problems are considered. The second two consider different aspects of the trajectory planning problem, while the last two deal with observer design for mobile robotic and Euler-Lagrange systems respectively. READ MORE