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- 3Reinforcement Learning
- 3Unmanned Aerial Vehicle
- 2Deep Reinforcement Learning
- 2Visual Servoing
- 1 Observer
- 1Al-Younes, Younes M. A.
- 1Ebrahimi, Khashayar
- 1Fallahi, Bita
- 1Fidan, Baris
- 1Fink, Geoffrey
- 1Hashemi, Ehsan
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Fall 2019
Q-learning can be difficult to use in continuous action spaces, because a difficult optimization has to be solved to find the maximal action. Some common strategies have been to discretize the action space, solve the maximization with a powerful optimizer at each step, restrict the functional...
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Computer Vision-Based Motion Control and State Estimation for Unmanned Aerial Vehicles (UAVs)
DownloadSpring 2018
To achieve a fully autonomous unmanned aerial vehicle (UAV) the vehicle needs a high level of self awareness. At a minimum it needs to know where it is and where it wants to go. Computer vision (CV) is a logical solution to this problem. However, using CV to solve motion control problems for UAVs...
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Spring 2021
There is a growing trend of using unmanned aerial vehicles (also known as UAVs, uncrewed aerial vehicles, or drones) to manipulate and interact with their surroundings. The algorithms and tools used are typically unique to the different tasks performed by UAVs; however, the fundamental UAV system...
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Fall 2016
Different model based control strategies are developed for combustion timing and load control in a single cylinder Homogeneous Charge Compression Ignition (HCCI) engine. In HCCI engines, a lean homogeneous air-fuel mixture auto-ignites due to compression and the resulting combustion occurs at...
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Fall 2018
Steerable needles have been widely used in minimally-invasive surgical procedures such as brachytherapy, biopsy, and neurosurgery in which long flexible needles are inserted into the human body for treatment, diagnosis or sample removal. Prostate brachytherapy, known as a cost-effective and...
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Optimal Motion Planning in GPS-Denied Environments using Nonlinear Model Predictive Horizon
DownloadSpring 2023
Navigating robotic systems autonomously through unknown, dynamic, and GPS-denied environments is a challenging task. One requirement of this is a path planner which provides safe trajectories under real-world conditions such as nonlinear vehicle dynamics, real-time computation requirements,...
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Fall 2021
Climate change concerns have raised awareness about the importance of decarbonizing the power sector. In achieving such a goal, energy storage is a critical operation that is currently done using mostly fossil fuels as chemical energy storage. The only viable alternative is battery energy storage...
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Resilient Estimation and Control on k-Nearest Neighbor Platoons: A Network-Theoretic Approach
Download2018-01-01
Pirani, Mohammad, Hashemi, Ehsan, Fidan, Baris, Simpson-Porco, John W., Sandberg, Henrik, Johansson, Karl Henrik
This paper is concerned with the network-theoretic properties of so-called k-nearest neighbor intelligent vehicular platoons, where each vehicle communicates with k vehicles, both in front and behind. The network-theoretic properties analyzed in this paper play major roles in quantifying the...
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Wind Tunnel Investigation of the Effect of Duct and Cross-flow on Small Propellers for Unmanned Aerial Vehicles
DownloadFall 2018
The expanding field of unmanned aerial vehicles (UAV) has introduced a variety of flight operating conditions and thus, performance requirements. As a method to improve performance in the propulsion systems of UAVs, two topics of interest are emphasized in this thesis: the potential improvements...