In this paper, we present an online optimization approach for coordinating large-scale robot teams in both convex and non-convex polygonal environments. In the former, we investigate the problem of moving a team of m ...
详细信息
ISBN:
(纸本)9783540743545
In this paper, we present an online optimization approach for coordinating large-scale robot teams in both convex and non-convex polygonal environments. In the former, we investigate the problem of moving a team of m robots from an initial shape to an objective shape while minimizing the total distance the team must travel within the specified workspace. Employing SOCP techniques, we establish a theoretical complexity of O(k(1.5)m(1.5)) for this problem with O(km) performance in practice - where k denotes the number of linear inequalities used to model the workspace. Regarding the latter, we present a multi-phase hybrid optimization approach. In Phase I, an optimal path is generated over an appropriate tessellation of the workspace. In Phase II, model predictive control techniques are used to identify optimal formation trajectories over said path while guaranteeing against collisions with obstacles and workspace boundaries. Once again employing SOCP, we establish complementary complexity measures of O(l(3.5)m(1.5)) and O(l(1.5)m(3.5)) for this problem with O(l(3)m) and O(lm(3)) performance in practice - where l denotes the length of the optimization horizon.
A formulation of continuous-time nonlinear MPC is proposed in which input trajectories are described by general time-varying parameterizations. The approach entails a limiting case of suboptimal single-shooting, in wh...
详细信息
ISBN:
(纸本)9783540726982
A formulation of continuous-time nonlinear MPC is proposed in which input trajectories are described by general time-varying parameterizations. The approach entails a limiting case of suboptimal single-shooting, in which the dynamics of the associated NLP are allowed to evolve within the same timescale as the process dynamics, resulting in a unique type of continuous-time dynamic state feedback which is proven to preserve stability and feasibility.
The experimental study of genetic regulatory networks has made tremendous progress in recent years resulting in a huge amount of data on the molecular interactions in model organisms. It is therefore not possible anym...
详细信息
ISBN:
(纸本)9783540719878
The experimental study of genetic regulatory networks has made tremendous progress in recent years resulting in a huge amount of data on the molecular interactions in model organisms. It is therefore not possible anymore to intuitively understand how the genes and interactions together influence the behavior of the system. In order to answer such questions, a rigorous modeling and analysis approach is necessary. In this chapter, we present a family of such models and analysis methods enabling us to better understand the dynamics of genetic regulatory networks. We apply such methods to the network that underlies the nutritional stress response of the bacterium E. coli.
In this chapter we consider the problem of robust visual tracking of multiple targets using several, not necessarily registered, cameras. The key idea is to exploit the high spatial and temporal correlations between f...
详细信息
ISBN:
(纸本)9783540743545
In this chapter we consider the problem of robust visual tracking of multiple targets using several, not necessarily registered, cameras. The key idea is to exploit the high spatial and temporal correlations between frames and across views by (i) associating to each viewpoint a set of intrinsic coordinates on a low dimensional manifold, and (ii) finding an operator that maps the dynamic evolution of points over manifolds corresponding to different viewpoints. Once this operator has been identified, correspondences are found by simply running a sequence of frames observed from one view through the operator to predict the corresponding current frame in the other view. As we show in the chapter, this approach substantially increases robustness not only against occlusion and clutter, but also against appearance changes. In addition, it provides a scalable mechanism for sensors to share information under bandwidth constraints. These results are illustrated with several examples.
A novel robust controller, chance constrained nonlinear MPC, is presented. Time-dependent uncertain variables are considered and described with piecewise stochastic variables over the prediction horizon. Restrictions ...
详细信息
ISBN:
(纸本)9783540726982
A novel robust controller, chance constrained nonlinear MPC, is presented. Time-dependent uncertain variables are considered and described with piecewise stochastic variables over the prediction horizon. Restrictions are satisfied with a user-defined probability level. To compute the probability and its derivatives of satisfying process restrictions, the inverse mapping approach is extended to dynamic chance constrained optimization cases. A step of probability maximization is used to address the feasibility problem. A mixing process with both an uncertain inflow rate and an uncertain feed concentration is investigated to demonstrate the effectiveness of the proposed control strategy.
Mathematical modeling is used for individual patients to help for an early diagnosis of the evolution of the infection. The feasibility of the method is depicted on some patients who start a HAART (Highly Active AntiR...
详细信息
ISBN:
(纸本)9783540719878
Mathematical modeling is used for individual patients to help for an early diagnosis of the evolution of the infection. The feasibility of the method is depicted on some patients who start a HAART (Highly Active AntiRetroviral Therapy). It is shown how this mathematical study can be used in the early diagnosis of the immunological failure for HIV patients.
This chapter presents an overview on the modeling and model-based control of autonomous helicopters. Firstly it introduces some of the platforms and control architectures that has been developed in the last 15 years. ...
详细信息
ISBN:
(纸本)9783540707004
This chapter presents an overview on the modeling and model-based control of autonomous helicopters. Firstly it introduces some of the platforms and control architectures that has been developed in the last 15 years. Later, the Chapter considers the modeling of the helicopter and the identification techniques. Then, it overviews different linear and non-linear model-based control approaches. This section also includes experiments on the control of the helicopter vertical motion that illustrate the presented techniques and point out the interest of nonlinear analysis methods to study the dynamic behavior of the helicopter. Finally, the Chapter presents open research lines coming from two challenging applications: the autonomous landing in oscillating platforms and the lifting and transporting of a single load with several helicopters.
We consider a combinatorial motion planning problem (CMP) that naturally arises in many applications involving unmanned aerial vehicles (UAVs) with fuel and motion constraints. The motion constraint we consider is the...
详细信息
ISBN:
(纸本)9783540743545
We consider a combinatorial motion planning problem (CMP) that naturally arises in many applications involving unmanned aerial vehicles (UAVs) with fuel and motion constraints. The motion constraint we consider is the inability of a vehicle to turn at an arbitrary yaw rate. The CMP is a generalization of a single Travelling Salesman Problem and is NP-Hard. In this paper, we exploit the combinatorial structure of the problem and provide heuristics with computational results to address the same.
We present an overview of our results on stabilizing scheduled output feedback Model Predictive control (MPC) algorithm for constrained nonlinear systems based on our previous publications [19, 20]. Scheduled MPC prov...
详细信息
ISBN:
(纸本)9783540726982
We present an overview of our results on stabilizing scheduled output feedback Model Predictive control (MPC) algorithm for constrained nonlinear systems based on our previous publications [19, 20]. Scheduled MPC provides an important alternative to conventional nonlinear MPC formulations and this paper addresses the issues involved in its implementation and analysis, within the context of the NMPC05 workshop. The basic formulation involves the design of a set of local output feedback predictive controllers with their estimated regions of stability covering the desired operating region, and implement them as a single scheduled output feedback MPC which on-line switches between the set of local controllers and achieves nonlinear transitions with guaranteed stability. This algorithm provides a general framework for scheduled output feedback MPC design.
The minimum phase property is an important notion in systems and control theory: In this paper, a characterization of the minimum phase property of nonlinear control systems in terms of a dissipation inequality is der...
详细信息
ISBN:
(纸本)9783540707004
The minimum phase property is an important notion in systems and control theory: In this paper, a characterization of the minimum phase property of nonlinear control systems in terms of a dissipation inequality is derived. It is shown that this dissipation inequality is equivalent to the classical definition of the minimum phase property in the sense of Byrnes and Isidori, if the control system is affine in the input and the so-called input-output normal form exists.
暂无评论