Number of found documents: 605
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SELF-STABILIZED GROUPS OF MICRO AERIAL VEHICLES
Saska, Martin
2019 - English
The goal of this habilitation thesis is to aggregate our research on stabilization and con- trol of cooperating robots in real environments without the need to build a dedicated infrastructure. The thesis presents methodologies and enabling techniques for controlling teams of autonomous robots acting in a shared working space, using onboard localization sensors only. The main contribution of this work lies in the design of methods for motion planning and stabilization of formations of ground and aerial robots, and for bio-inspired behav- ioral control patterns for swarms of multi-rotor micro aerial vehicles (MAVs). All pre- sented approaches are designed to satisfy the constraints imposed by a system of onboard relative localization of teammates, which was designed as the main sensor to enable the deployment of groups of cooperating robots in environments without external localiza- tion. The attached publications present theoretical studies specifying the requirements for the relative localization sensor to satisfy the stability of MAV swarms and convergence of motion of compact formations. In addition to the theoretical contribution, a large part of this document is dedicated to applications of the methodologies, since robotics is an application-oriented and application- motivated scientific field. Most of the methods presented here have been verified experi- mentally in environments reflecting the target applications. Continuous experimental ver- ification of the methods is an added value of the results that have been achieved. Direct interconnection between the methods designed for MAV group control and stabilization and the properties of the MAV sensors described in the real-world experiments is a crucial attribute of the work presented here. It has enabled the scientific results to be transferred into real deployment and into industrial applications, as has been shown in numerous examples in the thesis. Intensive validation of system performance in demanding envi- ronments was also a key factor in the MBZIRC 2017 competition, where our solution for a multi-robot challenge outperformed the results of all other competitors, most of whom had relied on laboratory testing only. Cohesive linkage between theoretical principles, on the one hand, and real experience and industrial solutions, on the other, has also provided a decisive competitive advantage for students of our team in their further career. Available in digital repository of ČVUT.
SELF-STABILIZED GROUPS OF MICRO AERIAL VEHICLES

The goal of this habilitation thesis is to aggregate our research on stabilization and con- trol of cooperating robots in real environments without the need to build a dedicated infrastructure. ...

Saska, Martin
České vysoké učení technické v Praze, 2019

Equilibrium Computation in Dynamic Games
Bošanský, Branislav
2019 - English
This habilitation thesis presents advancements in computing exact and approximate solution concepts in dynamic games. Dynamic games model scenarios that evolve over time, players are able to perform actions that modify the environment, however, the players do not have perfect information about the environment and receive only partial information as observations. We consider strictly competitive (or zero-sum) games where a gain of one player is a loss of the opponent as well as general-sum games. Similarly, we consider both games with a finite, pre-defined number of moves (horizon) after which the game terminates, as well as games where the number of moves is not fixed. There are several key contributions. For zero-sum games, we provide algorithmic contributions for games with both finite and with infinite horizon. For finite games, we adopted the incremental strategy-generation technique in order to scale-up to larger domains and also provided the first algorithm for approximately solving games where players have imperfect memory (imperfect recall). For games with infinite horizon, we provide the first algorithms for approximately solving games where at least one player has partial information about the environment. For general-sum games, we provide several theoretical results determining the complexity of computing a Stackelberg Equilibrium and novel algorithms for its computation in finite dynamic games. Moreover, we formally define a novel solution concept, a variant of Stackelberg Equilibrium termed Stackelberg Extensive-Form Correlated Equilibrium, and we show that this solution concept is important both from the theoretical perspective, since the computational complexity is often lower compared to Stackelberg Equilibrium, as well as from the practical perspective. To this end, we propose an algorithm that uses this new solution concept in order to quickly compute a Stackelberg Equilibrium. Available in digital repository of ČVUT.
Equilibrium Computation in Dynamic Games

This habilitation thesis presents advancements in computing exact and approximate solution concepts in dynamic games. Dynamic games model scenarios that evolve over time, players are able to perform ...

Bošanský, Branislav
České vysoké učení technické v Praze, 2019

Integrovaný manažment a kultúrne ekosystémové služby vo vybraných chránených územiach na Maltských ostrovoch
Tomaškinová, Judita
2019 - Slovak
Keywords: ekosystémové služby; Národní park Il-Majjistral (Malta) Available to registered users in the Library of Mendel University.
Integrovaný manažment a kultúrne ekosystémové služby vo vybraných chránených územiach na Maltských ostrovoch

Tomaškinová, Judita
Mendelova univerzita v Brně, 2019

Vliv různých teplotních režimů na vybrané jakostní ukazatele sýrů zrajících pod mazem
Cwiková, Olga
2019 - Czech
Keywords: kvalita potravin; sýry; mléčné výrobky Available to registered users in the Library of Mendel University.
Vliv různých teplotních režimů na vybrané jakostní ukazatele sýrů zrajících pod mazem

Cwiková, Olga
Mendelova univerzita v Brně, 2019

Learning to Play Large Sequential Games
Lisý, Viliam
2019 - English
Available in digital repository of ČVUT.
Learning to Play Large Sequential Games

Lisý, Viliam
České vysoké učení technické v Praze, 2019

Recent Advanced Methods and Results in Distributed Cooperative Control
Hengster Movric, Kristian
2018 - English
The presented habilitation treatise takes the form of a collection of selected journal and conference papers published by the applicant in the recent five years. The unifying theme of distributed cooperative control can be seen as a common thread tying the whole collection together. Taken together, these present an author’s contribution towards the current state- of-the-art in cooperative control. They bring interesting novel theoretical results and compelling applications, as well as open potential avenues of future research. In particular, the first chapters describe theoretical results for homogeneous agen ts ’ state synchronization and heterogeneous agent output synchronization . The following two chapters bring some applications to a compelling problem of distributed estimation and control, with specific focus on, but not limited to, distributed vibration reduction. Final chapter considers adaptation to yield completely distributed synchronization protocols. A concise exposition of related recent results in distributed control of homogeneous agents , in Chapter 1, provides a wider framework for two immediate sequels. First of these , Chapter 2, brings technical details on state synchronization of homogeneous agents using static output -feedback. The following Chapter 3, on the other hand, extends the synchronizing region meth ods by considering communication delays . The fourth chapter, in contrast, considers general heterogeneous agents ; providing conditions for output -synchronization and an L 2 -bound in case of disturbances acting on the system . Building further on the revealed necessary and sufficient single -agents ’ conditions required for this, the fifth chapter casts output -synchronization and disturbance suppression in the form of graphical games. On the applied side, Chapter 6 proposes networked observers tha t distributively fuse plant ’s estimates for control of large linear-time-invariant plants. If several measurements of differing reliability are available, one can further attempt sensor fusion, as discussed in Chapter 7. This then ideally improves on even the most precise measurements. The final Chapter 8 investigates adaptive consensus protocols, replacing the only remaining centralized piece of information required in the synchronizing region-based designs with dynamic adaptation. The se results are applicable, in principle, to all synchronizing region based designs, which, in turn, makes them all fully distributed.Prezentovaný habilitační spis má formu souboru vybraných časopiseckých a konferenčních článků, které uchazeč publikoval v posledních pěti letech. Jednotící téma distribuované ho kooperativního řízení lze považovat za společnou nit spojující celou sbírku dohromady. Tyto články představují příspěvek autora k současnému stavu poznání v kooperativní m řízení . Přinášejí zajímavé nov é teoretické výsledky a slibné aplikace, stejně jako otevřené možnosti budoucího výzkumu. Zejména první kapitol y popisují teoretické výsledky pro synchronizaci stavu homogenních agent ů a synchronizaci výstupu heteroge n ní ch agent ů . Následující dvě kapitoly přinášejí některé aplikace k důležitému problému distribuovaného odhadu a řízení se zvláštním zaměřením na distribuované snížení vibrací. Závěrečná kapitola se zabývá adaptivními protokoly, kter é přináší úp lnou distribuovanou synchronizaci. Stručné představení souvisejících nedávných výsledků v distribuované m řízení homogenních agent ů v kapitole 1 poskytuje širší rámec pro dvě následující kapitoly. První z nich, kapitola 2, přináší technické detaily o synchronizaci stavu homogenních agen t ů pomocí statické výstupní zpětné vazby. Následující kapitola 3 na druhé straně rozšiřuje metody synchronizační oblasti o zahrnutí komunikačních zpoždění. Čtvrtá kapitola se naopak věnuje všeobecný m heterogenní m agent ům a představuje podmínky pro výstupní synchroniz aci a potlačení poruch působících na systém. Pátá kapitola na základě odhalen ých nezbytných a postačujících podmínek ukazuje synchronizaci výstupů a potlačení poruch v podobě grafických her. V souvislosti s aplikacemi kapitola 6 navr huje síťové pozorovatele, kteří slučují odhady stavů pří řízení velkých lineárních časově invariantních systémů . P okud je k dispozici několik měření rozdílné spolehlivosti, lze se pokusit o fúzi senzorů, jak je uvedeno v kapitole 7. Tím lze zlepš it i nejpřesnější měření. Závěrečná kapitola 8 zkoumá protokoly adaptivní ho konsenz u nahrazením jedin ého zbývající ho centralizovan ého požadovaného údaj e v návrzích založených na synchronizační oblasti dynamickou adaptací. Výsledky jsou v zásadě použitelné pro všechny návrhy založené na synchronizační oblasti, které tak všechny dělají plně distribuované Keywords: cooperative control; multi-agent systems; distributed feedback; synchronization; synchronizing region; time-delays; output regulation; internal model principle; distributed observers; sensor fusion; adaptive consensus protocols.; kooperativní řízení; multiagentní systémy; distribuovaná zpětná vazba; synchronizac e; synchronizační oblast; časová zpoždění; regulace výstupů; princip vnitřního modelu; distribuovaní pozorovatelé; fúze senzorů; protokoly adaptivní ho konsenzu Available in digital repository of ČVUT.
Recent Advanced Methods and Results in Distributed Cooperative Control

The presented habilitation treatise takes the form of a collection of selected journal and conference papers published by the applicant in the recent five years. The unifying theme of ...

Hengster Movric, Kristian
České vysoké učení technické v Praze, 2018

Významné faktory ovlivňující jakost masa
Jůzl, Miroslav
2018 - Czech
Keywords: jakost masa; technologie potravin Available to registered users in the Library of Mendel University.
Významné faktory ovlivňující jakost masa

Jůzl, Miroslav
Mendelova univerzita v Brně, 2018

Fylogeneze, diverzita a variabilita rostlin v kontextu klimatických změn
Hanáček, Pavel
2018 - Czech
Keywords: fylogeneze; variabilita; klimatické změny; taxonomie rostlin Available to registered users in the Library of Mendel University.
Fylogeneze, diverzita a variabilita rostlin v kontextu klimatických změn

Hanáček, Pavel
Mendelova univerzita v Brně, 2018

Evaluation of Energy Efficiency Policy Instruments
Valentová, Michaela
2018 - English
Available in digital repository of ČVUT.
Evaluation of Energy Efficiency Policy Instruments

Valentová, Michaela
České vysoké učení technické v Praze, 2018

Ordered Structures, Plichko Spaces, and Operator Algebras
Bohata, Martin
2018 - English
Available in digital repository of ČVUT.
Ordered Structures, Plichko Spaces, and Operator Algebras

Bohata, Martin
České vysoké učení technické v Praze, 2018

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