Theses & Semester Projects
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How to apply:
- Please review the available projects below
- Send an email to the project contact.
Strategic Interactions of Future Mobility Systems
Mobility is typically self-optimized for a particular region to accommodate internal travel needs. However, as soon as one considers multiple, interacting regions (e.g., urban areas interacting with agglomerations, and agglomerations interacting with rural areas), important coordination issues occur, including scheduling mismatches, fleet allocations, and congestion peaks. In short, a mobility system composed of self-optimized mobility systems seems to often operate suboptimally. In this project, we will investigate the idea of strategic interactions of future mobility stakeholders across heterogeneous regions, such as urban areas, agglomerations, and rural areas, leveraging techniques from network design, optimization, game theory, and policy making.
Keywords
Optimization, Game theory, Multi-agent interactions, Transportation systems, Robotics
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Semester Project , Master Thesis
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Published since: 2024-04-26 , Earliest start: 2024-04-15 , Latest end: 2024-12-31
Applications limited to ETH Zurich
Organization Research Frazzoli
Hosts He Mingjia
Topics Mathematical Sciences , Information, Computing and Communication Sciences , Engineering and Technology
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
Submodular optimization for scenario sampling in autonomous vehicles safety testing
A key barrier hindering the swift introduction of autonomous vehicles (AVs) in real-world contexts is the challenge in establishing clear safety benchmarks. Specifically, the issue of systematically assessing both performance and safety remains a significant stumbling block within the industry. This challenge is mainly twofold: Firstly, how can we identify an ideal scenario set to evaluate the vehicle's performance within a targeted Operational Design Domain (ODD) and what criteria would be useful in amplifying or paring down this set? Secondly, how do we determine a substantial stopping criteria for the evaluation campaign, and what level of confidence should be attached to the observed performances?
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Semester Project , Master Thesis
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Published since: 2024-04-11 , Earliest start: 2024-04-01
Organization Research Frazzoli
Hosts Zanardi Alessandro, Dr.
Topics Mathematical Sciences , Information, Computing and Communication Sciences , Engineering and Technology
Learning, Predicting and Control Diffusion via Optimal Transport
The stochastic diffusion equations ruling the dynamics of particles at the micro- and nano- scale are captured by energy-minimizing dynamics when observed macroscopically, i.e., at a population level. This framework encompasses, for instance, single cells perturbation responses to chemical, genetic or mechanical stimuli, gene expression and cell differentiation. Recent advances in the theory of optimal transport and optimization in the Wasserstein space have created unprecedented opportunities to tackle these and other problems at scale. This active research area provides an excellent playground for exploring advanced mathematical concepts, deploying sophisticated learning and optimization algorithms, and solving open problems in biology, medicine, and various other fields. The project can be both theoretical and applied, and can include topics on optimization, optimal transport, deep learning, and biology. The project can be tailored to the preferences and experiences of the student.
Keywords
Diffusion, Optimal Transport, Optimal Control, Optimization, Biology
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Semester Project , Master Thesis
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Published since: 2024-04-09 , Earliest start: 2024-04-14 , Latest end: 2024-09-01
Organization Research D'Andrea
Hosts Terpin Antonio
Topics Mathematical Sciences , Information, Computing and Communication Sciences , Engineering and Technology , Chemistry
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
The Way of Water: Development of a fleet of water-based drones for live performance
This project focuses on developing autonomous robots for synchronized performances on water. Equipped with kinetic water fountains, RGB lighting, and ultrasonic mist generators, the robots are designed to execute planned choreographies. The system utilizes robotics control, wireless communication, and positioning technologies to coordinate movements, and payload activation, facilitating complex pattern generation and synchronization. The objective is to advance the application of distributed robotic systems in creating structured and cohesive visual displays on water.
Keywords
Water based rovers, Electronics development, Distributed Robotics, Control Systems, Game design
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Semester Project , Bachelor Thesis , Master Thesis
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Published since: 2024-03-26
Organization Research D'Andrea
Hosts Ramachandran Aswin
Topics Arts , Information, Computing and Communication Sciences , Engineering and Technology
Teaching a robot to master a board game using Reinforcement Learning
The master thesis aims to create a physics-based simulation with Brax or MuJoCo for a robot to learn board game strategies via reinforcement learning. Utilizing a pre-built 2x 2D gantry robot integrated with ROS2, the project seeks to train the robot to learn the game from scratch and improve its play against both human and robotic opponents. The primary goal is rapid learning and superior performance, with a focus on understanding the factors of victory in games like this between robots trained on the same algorithm. All this will be performed in simulation and on a real robot.
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Semester Project , Master Thesis
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Published since: 2024-03-15
Organization Research D'Andrea
Hosts Ramachandran Aswin
Topics Engineering and Technology
Safe Adaptive Control of a Low-Cost Ventilator
In this project, safe adaptive control of a low-cost ventilator is investigated both in simulation and on hardware.
Keywords
parameter estimation, online system identification, model predictive control, failure detection, low -cost ventilation
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Semester Project , Master Thesis , Student Assistant / HiWi
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Published since: 2024-03-13 , Earliest start: 2023-12-01 , Latest end: 2024-10-31
Applications limited to ETH Zurich
Organization Research Zeilinger
Hosts Korn Leonie , Muntwiler Simon
Topics Mathematical Sciences , Engineering and Technology
CyberRunner: Pushing the Boundary of Autonomy
CyberRunner is an AI robot whose task is to learn how to play the popular and widely accessible labyrinth marble game. The labyrinth is a game of physical skill whose goal is to steer a marble from a given start point to the end point. In doing so, the player must prevent the ball from falling into any of the holes that are present on the labyrinth board. The movement of the ball can be indirectly controlled by two knobs which change the orientation of the board. While it is a relatively straightforward game, it requires fine motor skills and spatial reasoning abilities, and, from experience, humans require a great amount of practice to become proficient at the game. Using recent advances in model-based reinforcement learning techniques, CyberRunner is able to outperform the previously fastest recorded time, achieved by an extremely skilled human player, by over 6%. Moreover, it does so with only 6 hours of practice. We envision expanding the capabilities of CyberRunner through further research. Students will contribute to advancing the field and establishing CyberRunner as a real-world robotic benchmark. Suitable projects in different areas are available for talented and motivated students. The project topics span model-based control, reinforcement learning, computer vision, and hardware design.
Keywords
Robotics, Reinforcement Learning, Machine Learning, Computer Vision, Control, Hardware Design
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Semester Project , Master Thesis
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Published since: 2024-01-12 , Earliest start: 2024-01-01 , Latest end: 2024-12-31
Organization Research D'Andrea
Hosts Bi Thomas
Topics Engineering and Technology
Transformers as dynamical systems: using control theory to understand the transformer architecture
This research explores the recent shift from transformers to novel architectures based on linear dynamical systems, showcasing their potential to outperform traditional transformers in specific contexts. Through a focus on understanding these diverse architectures within the framework of linear time-varying or time-invariant systems, the study aims to unveil their connections and establish a unified framework. Additionally, attention mechanisms inherent in these architectures will be investigated for their role in language models, offering a more principled approach to design and improved explainability.
Keywords
Linear systems, transformers, natural language processing, attention-based architectures, control theory
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Semester Project , Master Thesis
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Published since: 2024-01-03 , Earliest start: 2024-01-08 , Latest end: 2024-09-01
Applications limited to ETH Zurich
Organization Research Zeilinger
Hosts Sieber Jérôme
Topics Engineering and Technology
Direct Projects
The projects from Prof. Melanie Zeilinger's group are hosted on the student projects page.
Custom Projects
From time to time, project supervisors will develop custom student research projects to fit with a student's particular interests or skills.
If you are interested in doing a custom student research project, please email the project supervisor of your choice directly. We recommend that you carefully review their area of research before you contact them.
Please note that the decision of whether to develop a custom student project is at the full discretion of the project supervisor.