Browsing Theses by Supervisor "Fidan, Baris"
Now showing items 1-20 of 23
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Adaptive and Optimal Motion Control of Multi-UAV Systems
(University of Waterloo, 2019-05-21)This thesis studies trajectory tracking and coordination control problems for single and multi unmanned aerial vehicle (UAV) systems. These control problems are addressed for both quadrotor and fixed-wing UAV cases. Despite ... -
Adaptive Cooperative Highway Platooning and Merging
(University of Waterloo, 2017-05-19)As low-cost reliable sensors are introduced to market, research efforts in autonomous driving are increasing. Traffic congestion is a major problem for nearly all metropolis'. Assistive driving technologies like cruise ... -
Adaptive Formation Control of Cooperative Multi-Vehicle Systems
(University of Waterloo, 2015-12-22)The literature comprises many approaches and results for the formation control of multi-vehicle systems; however, the results established for the cases where the vehicles contain parametric uncertainties are limited. ... -
Adaptive Path Following for an Underactuated Nonholonomic Mobile Manipulator
(University of Waterloo, 2020-01-17)We investigate an adaptive path following problem for an underactuated nonholonomic mobile manipulator system and closed planar curves. As opposed to adapting to uncertain or unknown dynamics in the plant, we apply an ... -
Cooperative Autonomous Vehicle Speed Optimization near Signalized Intersections
(University of Waterloo, 2018-12-12)Road congestion in urban environments, especially near signalized intersections, has been a major cause of significant fuel and time waste. Various solutions have been proposed to solve the problem of increasing idling ... -
Dynamic Model Identification and Trajectory Correction for Virtual Process Planning in Multi-Axis Machine Tools
(University of Waterloo, 2019-07-24)In today’s industry, the capability to effectively reduce production time and cost gives a manufacturer a vital advantage against its competitors. Specifically, in the machining industry, the ability to simulate the dynamic ... -
Hessian Estimation Based Adaptive and Cooperative Extremum Localization
(University of Waterloo, 2021-01-13)The thesis is on Hessian estimation based adaptive and cooperative extremum localization via a single mobile sensory agent as well as a network of multiple such agents. First, we develop a continuous time adaptive extremum ... -
Hierarchical Adaptive Control of Modular and Reconfigurable Robot Manipulator Platforms
(University of Waterloo, 2020-10-26)Within the rapidly growing interest in today's robotics industry, modular and reconfigurable robots (MRRs) are among the most auspicious systems to expand the adaptability of robotic applications. They are adaptable to ... -
Integrated Task and Motion Planning of Multi-Robot Manipulators in Industrial and Service Automation
(University of Waterloo, 2021-02-01)Efficient coordination of several robot arms in order to carry out some given independent/cooperative tasks in a common workspace, avoiding collisions, is an appealing research problem that has been studied in different ... -
Integrated Trajectory-Tracking and Vibration Control of Kinematically-Constrained Warehousing Cable Robots
(University of Waterloo, 2018-05-04)With the explosion of e-commerce in recent years, there is a strong desire for automated material handling solutions including warehousing robots. Cable driven parallel robots (CDPRs) are a relatively new concept which has ... -
Least Squares Based Adaptive Control and Extremum Seeking with Active Vehicle Safety System Applications
(University of Waterloo, 2020-05-15)On-line parameter estimation is one of the two key components of a typical adaptive control scheme, beside the particular control law to be used. Gradient and recursive least squares (RLS) based parameter estimation ... -
Mobile Robot Manipulator System Design for Localization and Mapping in Cluttered Environments
(University of Waterloo, 2018-06-21)In this thesis, a compact mobile robot has been developed to build real-time 3D maps of hazards and cluttered environments inside damaged buildings for rescue tasks using visual Simultaneous Localization And Mapping ... -
Model Predictive Control of Highway Emergency Maneuvering and Collision Avoidance
(University of Waterloo, 2017-09-11)Autonomous emergency maneuvering (AEM) is an active safety system that automates safe maneuvers to avoid imminent collision, particularly in highway driving situations. Uncertainty about the surrounding vehicles’ decisions ... -
Multi-objective Mapping and Path Planning using Visual SLAM and Object Detection
(University of Waterloo, 2019-01-23)Path planning of the autonomous robots is one of the crucial tasks that need to be achieved for mobile robots to navigate through the environment intelligently. The robot paths are typically planned utilizing map that ... -
Multiple-Model Robust Adaptive Vehicle Motion Control
(University of Waterloo, 2019-08-28)An improvement in active safety control systems has become necessary to assist drivers in unfavorable driving conditions. In these conditions, the dynamic of the vehicle shows rather different respond to driver command. ... -
Path Planning Framework for Unmanned Ground Vehicles on Uneven Terrain
(University of Waterloo, 2022-08-23)In this thesis, I address the problem of long-range path planning on uneven terrain for non-holonomic wheeled mobile robots (WMR). Uneven terrain path planning is essential for search-and-rescue, surveillance, military, ... -
Reliable Vehicle State and Parameter Estimation
(University of Waterloo, 2017-09-08)Diverse vehicle active safety systems including vehicle electronic stability control (ESC) system, anti-lock braking system (ABS), and traction control system (TCS) are significantly relying on information about the vehicle's ... -
Spatial Formation Control
(University of Waterloo, 2015-12-18)In this thesis, we study robust spatial formation control from several aspects. First, we study robust adaptive attitude synchronization for a network of rigid body agents using various attitude error functions defined on ... -
State and Parameter Estimation of Vehicle-Trailer Systems
(University of Waterloo, 2021-03-05)Vehicle-trailer systems have different unstable modes that should be considered in their stability control, including trailer snaking, jack-knifing, and roll-over. In general, vehicle control systems require vehicle ... -
Synchronized Motion Control of Dual Robot Manipulator Systems
(University of Waterloo, 2020-09-14)Dual manipulator systems are capable of accomplishing a variety of tasks, such as manipulating large and heavy objects and assembling parts, that might be impossible for single manipulators. These collaborative tasks ...