Bio-Inspired Ice Adhesion Robot for Exploring Icy Moons

Enceladus, one of the icy moons of Saturn, has been of major scientific interest since the Cassini-Huygens mission has explored the Saturn system. This is due to cryovolcanic geysers with complex organic molecules and other ingredients for life in it blasting into space from its subglacial warm ocean. The moon's harsh environmental conditions...

Generalised Motions in Active Inference by finite differences: Active Inference in Robotics

This thesis is a contribution to the research on Active Inference for Robotics. Active Inference is an intricate, intriguing theory from neuroscience, a field in which it has already gained a greater following and popularity. This theory, based on the underlying Free Energy Principle, provides a unified account of perception, action and learning...