Sökning: "Säkerhetsbegränsningar"

Visar resultat 1 - 5 av 6 uppsatser innehållade ordet Säkerhetsbegränsningar.

  1. 1. Multi-Robot Motion Planning Under High-Level Task Specifications

    Kandidat-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Författare :Axel Abrahamsson; Lukas Granqvist; [2023]
    Nyckelord :;

    Sammanfattning : This bachelor thesis explores the use of Signal Temporal Logic (STL) and ControlBarrier Functions (CBFs) to address the challenges associated with multi-robot motionplanning under high-level task specifications. STL is a formalism used to specify temporalproperties of signals, while CBFs are used to enforce safety constraints. LÄS MER

  3. 2. Exploring the Security Implications of a Decentralized Internet : Vulnerabilities in Web3 and Blockchain-Based Networks

    Kandidat-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Författare :Erik Blondell; [2023]
    Nyckelord :Blockchain; Web3; security; smart contracts; vulnerabilities; Blockchain; säkerhet; Web3; smart-contracts; sårbarheter;

    Sammanfattning : The internet has evolved from an information-based reading platform to a read-and-write platform which is dominated by a handful of organizations. This centralization has led to a movement suggesting a new shift using blockchain technology to create a decentralised internet. LÄS MER

  4. 3. Safety-Critical Teleoperation with Time-Varying Delays : MPC-CBF-based approaches for obstacle avoidance

    Master-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Författare :Riccardo Periotto; [2023]
    Nyckelord :Robust Control Barrier Functions RCBFs ; Model Predictive Control MPC ; Obstacle Avoidance; Time-Varying Delays; Teleoperation; Robust Control Barrier Functions RCBFs ; Model Predictive Control MPC ; Obstacle Avoidance; Time-Varying Delays; Teleoperation;

    Sammanfattning : The thesis focuses on the design of a control strategy for safety-critical remote teleoperation. The main goal is to make the controlled system track the desired velocity specified by a human operator while avoiding obstacles despite communication delays. LÄS MER

  5. 4. Application of Discrete Time High Order Control Barrier Functions for a prototype multi-spacecraft inspection of the ISS

    Master-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Författare :Gregorio Marchesini; [2023]
    Nyckelord :Space Robotics; Control Barrier Functions; Autonomous systems; Multi-agent systems;

    Sammanfattning : In the past few years, the application of Control Barrier Functions (CBF) and High Order Control Barrier Functions (HOCBF) as a suitable framework to ensure safety for autonomous systems has attracted increasing interest. In particular, autonomous space systems are frequently subject to safety-critical constraints due to the high costs involved in manufacturing and launching. LÄS MER

  7. 5. Control barrier function-enabled human-in-the-loop control for multi-robot systems : Centralized and distributed approaches

    Master-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Författare :Victor Nan Fernandez-Ayala; [2022]
    Nyckelord :Multi-robot systems; Human-in-the-loop control; Control barrier functions; Safety constraints; ROS Implementation; Multirobotsystem; Human-in-the-loop-kontroll; Kontrollera barriärfunktionerna; Säkerhetsbegränsningar; ROS-implementering;

    Sammanfattning : Autonomous multi-robot systems have found many real-world applications in factory settings, rescue tasks and light shows. Albeit these successful applications, the multi-robot system is usually pre-programmed with limited flexibility for online adaptation. LÄS MER