Student Projects
Model predictive stability filters for advanced driver assistance systems
In this project, we want to explore the application of predictive stability filters for automotive applications. Predictive stability filters allow augmenting human or learning-based controllers such that safety in terms of constraint satisfaction as well as stability of a desired setpoint can be guaranteed. Such algorithms present possible solutions for automotive applications such as, e.g., lane keeping.
Keywords
predictive control; stability filter; automotive
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Master Thesis
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Published since: 2024-04-24
Applications limited to ETH Zurich
Organization Research Zeilinger
Hosts Didier Alexandre
Topics Mathematical Sciences , Engineering and Technology
Safe guaranteed domain exploration with autonomous robots
In many autonomous navigation applications, the robot must interact with the environment to learn and complete tasks. Furthermore, these applications are safety-critical, and crashes cannot be afforded. This necessitates the safe learning of the unknown environment in order to achieve the task objective (e.g., detecting a leak or mapping an area). For example, consider an application of safe exploration in a warehouse with a wheeled robot to identify the source of a gas leak.
Keywords
Gaussian Processes, Active learning, Bayesian optimization, Model predictive control (MPC), Issac sim simulator
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Master Thesis
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Published since: 2024-04-15 , Earliest start: 2024-05-01 , Latest end: 2025-04-30
Organization Research Zeilinger
Hosts Prajapat Manish
Topics Engineering and Technology
Mechanical Optimization and Evaluation of the STOPSTORM Simulator
Improving and characterizing hardware system to experimentally investigate the interactions of tachycardia and ration therapy.
Keywords
Radiation Therapy, Hardware, Heart, Biomedical
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Semester Project
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Published since: 2024-04-08 , Earliest start: 2024-04-14 , Latest end: 2024-12-31
Organization Research Zeilinger
Hosts Schulte Dominik
Topics Engineering and Technology
Estimation and Learning for Wire-Arc Additive Manufacturing
Designing filters for jointly estimating thermal fields in Wire-Arc Additive manufacturing and learning the parameters of the underlying models.
Keywords
State estimation, Optimization, Wire-Arc additive manufacturing, Sensor fusion, Thermal imaging
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Semester Project , Master Thesis
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Published since: 2024-04-02 , Earliest start: 2024-01-01 , Latest end: 2024-08-31
Organization Advanced Manufacturing Laboratory
Hosts Sideris Iason , Muntwiler Simon
Topics Engineering and Technology
Multi-agent predictive control barrier functions
In this project, we want to explore possible extensions of predictive control barrier functions to the multi-agent setting. Predictive control barrier functions [1] allow certifying safety of a system in terms of constraint satisfaction and provide stability guarantees with respect to the set of safe states in case of initial feasibility. This allows augmenting any human or learning-based controller with closed-loop guarantees through a so-called safety filter [2] which is agnostic to the primary control objective. As current formulations are restricted to single agents, the goal is to investigate how this formulation can be extended for multi-agent applications and how the interactions between the agents can be exploited in order to reduce computational overhead.
Keywords
predictive control, multi-agent systems, safety filter, control barrier functions
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Master Thesis
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Published since: 2024-03-26
Applications limited to ETH Zurich
Organization Research Zeilinger
Hosts Didier Alexandre
Topics Information, Computing and Communication Sciences , Engineering and Technology