This thesis develops optimization-based techniques for the control of distributed energy resources to provide multiple services to the power network. It is divided into three parts.The first part of this thesis focuses on the development of a framework f ...
This work addresses multi-robot coordination in social human-populated environments based on a Hoplites-based framework for solving the multi-robot task allocation problem. Humans are considered in the proposed coordination mechanism by means of accounting ...
In this paper, we propose a risk-based coordination method for the Multi-Robot Task Allocation (MRTA) problem in human-populated environments. We introduce risk-based bids that incorporate human trajectory prediction uncertainties and furthermore, social c ...
The ever increasing penetration of renewable energy systems in the distribution grids will inevitably require profound changes in the grid infrastructure. One emerging direction, the medium voltage dc (MVdc) grids, is the cornerstone of this work. They are ...
Predictive modelling of plasma profiles is an essential part of ongoing research in tokamak plasmas, required for a successful realization of future fusion reactors. This thesis focuses on upgrading the RAPTOR code to extend the area of its applicability f ...
We present a multibody simulator being used for compliant humanoid robot modelling and report our reasoning for choosing the settings of the simulator's key features. First, we provide a study on how the numerical integration speed and accuracy depend on t ...
We propose a multi-robot tracking method to provide state estimates that allow a group of robots to maintain a formation even when the communication fails. We extend a Gaussian Mixture Probability Hypothesis Density filter to incorporate, firstly, absolute ...
