Sökning: "Kontrollbarriärfunktion"

Hittade 3 uppsatser innehållade ordet Kontrollbarriärfunktion.

  1. 1. 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

  3. 2. Robust Safe Control for Automated Driving Systems With Perception Uncertainties

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

    Författare :Yan Feng Yu; [2022]
    Nyckelord :Adaptive cruise control; Autonomous Driving System; Control barrier function; Cyber-physical systems; Measurement uncertainties; Model predictive control; Kalman filter; Adaptiv farthållare; Autonoma körsystem; Kontrollbarriärfunktion; Cyberfysiska system; Mätstörning; Modellförutsägande styrning;

    Sammanfattning : Autonomous Driving Systems (ADS), a subcategory of Cyber-Physical Systems (CPS) are becoming increasingly popular with ubiquitous deployment. They provide advanced operational functions for perception and control, but this also raises the question of their safety capability. LÄS MER

  4. 3. An input-sample method for zonotopic obstacle avoidance with discrete-time control barrier functions

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

    Författare :Xiong Xiong; [2022]
    Nyckelord :Control barrier functions; RRT; Discrete-time Control barrier function; Input sample; Kontrollbarriärfunktion; RRT; diskret tid Kontrollbarriärfunktion; inmatningsprov;

    Sammanfattning : In this thesis, we consider the motion planning problem for an autonomous vehicle in an obstacle-cluttered environment approximated by zonotopes, and we propose an input sampling algorithm leveraging discrete-time control barrier function conditions (DCBF). Specifically, an optimization-based control barrier function that takes into account the geometric shapes of the vehicle and obstacles is constructed and verified. LÄS MER