MIRTE Community Projects

Theses, end projects and other contributions to and for the MIRTE robots

_{These are ordered in chronological order, newest at the top}

Getting MIRTE under (ros2_)control

Jasper van Brakel _{February 2026}

SuperJappie08/mirte-thesis-control: A redesign and validation of the ros2_control setup of the MIRTE Master base. The validation is performed using a flexible custom validation/measurement setup, allowing for step and frequency response measurements to be performed and analyzed.

More related repositories are listed in the Appendix C of the thesis.

Master thesis: Getting MIRTE under (ros2_)control

MIRTE Master Robot - SINDYc & Tube NMPC

Elysia Bonello_{October 2025}

elbon1/mirte-master-tube_nmpc: modelling and robust trajectory tracking of the MIRTE Master omnidirectional robot. Modelling is performed with SINDYc (sparse identification of nonlinear dynamics with control), and control uses tube-based nonlinear model predictive control (NMPC) with a discrete linear-quadratic regulator (DLQR) ancillary law.

Master thesis: Omnidirectional Mobile Robots in Agricultural Automation

Teleoperation for Mirte Master

Aditya Swami, Duncan Bijkerk, Ynze Visser, and Quita Carriere._{June 2025}

QSame9/Teleoperation-for-Mirte-Master: A physical remote controller interface for the Mirte Master. This project is part of the Bachelor End Project for Mechanical Engineering students at the TU Delft. It was commissioned by the Cognitive Robotics department of the TU Delft.

Bachelor End Project report

Model-Based-Control for Trajectory Tracking with a Mecanum Wheeled Vehicle

Tim van der Spijk _{July 2024}

Investigates the benefits of using a trajectory tracking controller based on a dynamic model for a four-Mecanum-wheeled vehicle (FMWV) over a kinematic-model-based controller.

Master thesis