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检索条件"任意字段=18th International Conference on Control Automation Robotics and Vision"

共 5313 条记录，以下是1751-1760 订阅

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Fast Localization for Emergency Monitoring and Rescue in Disaster Scenarios Based on WSN 14

Fast Localization for Emergency Monitoring and Rescue in Dis...

引用

14th international conference on control, automation, robotics and vision (ICARCV)

作者： Lu, Mingxiao Zhao, Xiaoguang Huang, Yikun Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing Peoples R China Univ Chinese Acad Sci Sch Comp & Control Engn Beijing Peoples R China

ISBN: (纸本)9781509035496

Natural disasters, such as earthquake, typhoon and flood, have caused great loss of lives and property each year, which makes emergency monitoring and rescue an imperative problem to be addressed. In this paper, we designed a novel monitoring and rescue system based on wireless sensor network (WSN) for disaster scenarios, which combines environment monitoring, information transmission, and emergency localization. In our system, fast localization through WSN is a crucial technique for searching and rescuing. We proposed an improved weighted centroid algorithm with adaptive error correction to increase localization accuracy of sensor networks with sparse anchors. this method based on received signal strength indication (RSSI) is low cost, expandable, easy to implement, and suitable for disaster rescues.

关键词： Wireless sensor networks

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Distributed Event-triggered Containment control of Multiple Rigid Bodies with Combinational Measurements 14

Distributed Event-triggered Containment Control of Multiple ...

引用

14th international conference on control, automation, robotics and vision (ICARCV)

作者： Huang, Na Duan, Zhisheng Yu, Changbin Hangzhou Dianzi Univ Sch Automat Hangzhou 310018 Zhejiang Peoples R China Peking Univ Coll Engn Beijing 100871 Peoples R China Peking Univ Coll Engn Dept Mech & Engn Sci Slate Key Lab Turbulence & Complex Syst Beijing 100871 Peoples R China Australian Natl Univ Res Sch Engn Canberra ACT 0200 Australia

ISBN: (纸本)9781509035496

this paper studies the distributed containment control problem of multiple rigid bodies with event-triggered controllers. An event-triggered cooperative strategy is proposed based on combinational measurements. In this framework, each agent is triggered only at its own triggering instants, which reduces the frequency of controller updates in practice. It is shown that the triggering time sequence of each agent is Zero-free. Finally, a modified event-triggered condition is designed to avoid continuous combinational measurements between neighboring agents. It is also shown that no agents will exhibit Zeno triggering in this case.

关键词： controllers

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Combined Road Following control and Automatic Lane Keeping for Automated Guided Vehicles 14

Combined Road Following Control and Automatic Lane Keeping f...

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14th international conference on control, automation, robotics and vision (ICARCV)

作者： Osman, Kawther Ghommam, Jawhar Saad, Maarouf Univ Sfax Sch Engn Sfax CEM Lab Sfax Tunisia Ecole Technol Super Dept Elect Engn Montreal PQ Canada

ISBN: (纸本)9781509035496

the paper addresses the operational reliability and safety of automated guided vehicles along roadways. these operations most often require very tight integration of environmental sensing and vehicle dynamics control. this contribution relies on determining the relevant lane boundaries using conventional camera sensor and proposes a constrained longitudinal and lateral control strategy for fully automated guided vehicle (AGV) which dynamics are described by a nonlinear nonholonomic model with two inputs, the rear axle torque and the steering angle torque. the objective is to control the AGV to track a desired generated trajectory while preventing lane departure. Aiming at this purpose, a vision-based algorithm is used to determine the boundaries of road lanes with respect to the vehicle, a reference trajectory within these lane boundaries is then generated based on Hermite basis functions. the control inputs for the AGV are subsequently designed in such a way it tracks the given trajectory while its position remains in the lane boundaries. the Integral Barrier Lyapunov functionals (iBLFs) are employed to address the AGV position constraints to ensure safe autonomous navigation. Numerical simulations are presented to demonstrate the effectiveness of the proposed approach.

关键词： Trajectories

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A Probabilistic Cellular Automata Ant Memory Model for a Swarm of Foraging Robots 14

A Probabilistic Cellular Automata Ant Memory Model for a Swa...

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14th international conference on control, automation, robotics and vision (ICARCV)

作者： Lima, Danielli A. Oliveira, Gina M. B. Univ Fed Uberlandia Fac Comp BR-38408100 Uberlandia MG Brazil

ISBN: (纸本)9781509035496

Foraging is one of the most popular tasks for multi-robot systems and it can be considered a metaphor for a broad class of problems. the complexity of the problem increases proportionally with the number of agents, due to the fact that all robots must act in cooperation to complete the task. the proposed model employs a combination of different natural swarm behavior techniques to control a team of robots. It was named robot probabilistic cellular automata ant memory (RPCAAM). Our inspiration came from the possibility to mimic the cognitive behaviors of foraging ants with those of pedestrians in a building evacuation. the proposed probabilistic homing can avoid inertial behavior near the nests, which improves team performance. Furthermore, some investigations into robot-robot and robot-obstacles conflicts were improved to make the model more adequate to real-world applications. the probabilistic model was contrasted with deterministic homing. Moreover, the proposed method was implemented in a robotics simulation environment called Webots. Simulation results indicate that foraging tasks could be implemented with low complexity in low-cost architectures.

关键词： Cellular automata Swarm robotics Pedestrian Dynamics Inverted Ants Pheromone Tabu Search

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Motion Estimation for a Flexible Manipulator using Vibration and vision Sensing 14

Motion Estimation for a Flexible Manipulator using Vibration...

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14th international conference on control, automation, robotics and vision (ICARCV)

作者： Luo, Xi Halim, Dunant Trivailo, Pavel M. Univ Nottingham Ningbo China Dept Mech Mat & Mfg Engn Ningbo Zhejiang Peoples R China RMIT Univ Sch Aerosp Mech & Mfg Engn Melbourne Vic Australia

ISBN: (纸本)9781509035496

this work proposed a motion estimation method for a flexible robotic manipulator with a vision-based end-effector. the effectiveness of the proposed estimation method was evaluated by utilizing a non-linear dynamic model of a flexible manipulator using the co-rotational finite element method. this modeling utilized multiple co-ordinate (co-rotational) systems which rotated and translated with each element, allowing the investigation of flexible manipulator dynamics with the large rotational and translational motion. Smart piezoelectric sensors, embedded to the flexible manipulator, were used for vibration sensing purposes. Simulation results on a flexible manipulator demonstrated the feasibility of the proposed estimation method in predicting the movement of end-effector with a satisfactory accuracy. Experimental results confirmed the effectiveness of the estimation method. Results from the vision analysis, based on experimental results, demonstrated the feasibility of the estimation method for a further flexible manipulator application with the eye-in-hand system.

关键词： flexible manipulator structural vibration visual sensing motion estimation

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Multi-UAV UWA Video Surveillance System 14

Multi-UAV UWA Video Surveillance System

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14th international conference on control, automation, robotics and vision (ICARCV)

作者： Yu, Chen Wang, Jianan Shan, Jiayuan Xin, Ming Beijing Inst Technol Sch Aerosp Engn Beijing 100081 Peoples R China Univ Missouri Dept Mech & Aerosp Engn Columbia MO 65211 USA

ISBN: (纸本)9781509035496

In this work, an autonomous surveillance system providing ultra wide angle (UWA) video information is presented using multi-UAV platform. Towards this end, a fleet of UAVs are initially deployed into appropriate formation (such as triangle, diamond, or line) with cameras pointing outwards to cover the region of interest (ROI). In aid of image processing technique, the UAVs formation will be further optimized using temporal as well as spatial information to achieve a decent overlap (20% is defined in this work from both information adequacy and utilization efficiency perspective) between any two adjacent video sources. thereafter, videos separately captured will be stitched together forming an UWA video by extracting and matching feature points in the base station. Notably, a vision-feedback-formation-control (VFFC) closed-loop framework is proposed for better performance. In the end, an experiment is elaborated to illustrate the UWA video generated by the proposed system.

关键词： multi-UAV systems formation control UWA surveillance video stitching

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Visually Servoed Trajectory Tracking of Quadrotors with the Kinematic Model 14

Visually Servoed Trajectory Tracking of Quadrotors with the ...

引用

14th international conference on control, automation, robotics and vision (ICARCV)

作者： Wang, Kai Lin, Penghong Corechips Technol Co Ltd R&D Dept Shenzhen Peoples R China Harbin Inst Technol Control & Simulat Ctr Harbin Peoples R China

ISBN: (纸本)9781509035496

the visually servoed trajectory tracking of quadrotors has attracted many academic researchers over the past decade, and numerous controllers are proposed for this challenging problem. the trajectory tracking controller proposed in this paper follows the Position Based Visual Servoing (PBVS) paradigm. Most of the PBVS controllers, if not all, are implemented assuming that the position of the quadrotor has been accurately recovered with an independent estimator. therefore the rigorous trajectory tracking stability cannot be promised due to the separation principle does not hold for the general nonlinear systems. Accordingly, a new PBVS controller is proposed in this paper for the trajectory tracking of quadrotors by embedding a novel adaptive estimator into this new controller to estimate the position of the quadrotor online. It is proved by Lyapunov theory that the proposed adaptive PBVS controller gives rise to the asymptotic trajectory tracking and the convergence of the estimated position to the actual one. An experiment is conducted to validate the effectiveness of the proposed controller.

关键词： quadrotor trajectory tracking visual servoing

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Relative localization with Computer vision and UWB Range for Flying Robot Formation control 14

Relative localization with Computer Vision and UWB Range for...

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14th international conference on control, automation, robotics and vision (ICARCV)

作者： Ramirez, B. Chung, H. Derhamy, H. Eliasson, J. Barca, J. C. Monash Univ Fac Informat Technol Clayton Vic 3800 Australia Lulea Univ Technol Dept Comp Sci Elect & Space Engn S-97187 Lulea Sweden Monash Univ Dept Mech & Aerosp Engn Clayton Vic 3800 Australia Monash Univ Monash Swarm Robot Lab Clayton Vic 3800 Australia

ISBN: (纸本)9781509035496

Relative localization is a core problem for swarm robotics since each swarm node must determine where neighboring robots are located to accomplish cooperative tasks such as formation control. In this paper we present a system that performs relative localization between a stationary marker and a flying robot in real-time. Relative distances are obtained using ultra-wide band radio, while a low-cost webcam provide angle measurements. To achieve the latter, we employed the Camshift algorithm and a Kalman filter. We tested our system outdoors during daylight using centimeter-accuracy GPS measurements as ground truth. three data sets have been collected from a series of experiments and it shows that errors in estimated relative positions are between +/-0.190 m on the x-East axis and +/-0.291 m on the z-North axis at 95% confidence level.

关键词： Flying robot Relative Localization UWB Range Computer vision Camshift

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Quantifying Task Similarity for Skill Generalisation in the Context of Human Motor control 14

Quantifying Task Similarity for Skill Generalisation in the ...

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14th international conference on control, automation, robotics and vision (ICARCV)

作者： Sebastian, Gijo Fong, Justin Crocher, Vincent Tan, Ying Oetomo, Denny Mareels, Iven Univ Melbourne Melbourne Sch Engn Parkville Vic 3010 Australia

ISBN: (纸本)9781509035496

In this work, a simple model is used to characterize the learning behaviour of humans. Based on this model, it is possible to define a similarity measure between two tasks in order to quantify skill generalisation during the learning of simple motor tasks by humans. By fully exploring this similarity measure, a sequence of tasks capable of improving the learning efficiency for both healthy subjects and patients with motor impairment may be generated. A validation protocol is introduced and preliminary experimental results with six subjects are presented to validate the learning model and the similarity measure. Results show that the human learning of trajectory tracking tasks can accurately be modelled by an exponential decay of the average tracking error. the model fits well when the task is new or far away from a previously learnt task. Model parameters are used to analyse the learning performances of the subjects and the influence of previous tasks learning. Finally, it is shown that the similarity index can be constructed based on the proposed model to reflect skill generalisation.

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Mean Square Detectability of Multi-output Networked Systems over Finite-State Fading Channels 14

Mean Square Detectability of Multi-output Networked Systems ...

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14th international conference on control, automation, robotics and vision (ICARCV)

作者： Chen, Wei Zou, Yuanyuan Niu, Yugang Xiao, Nan East China Univ Sci & Technol Minist Educ Key Lab Adv Control & Optimizat Chem Proc Shanghai 200237 Peoples R China Singapore MIT Alliance Res & Technol Ctr Singapore 138602 Singapore

ISBN: (纸本)9781509035496

this paper studies the mean square quadratic (MSQ) detectability for multi-output networked systems over finite-state fading channels. the unreliability from the plant output to the estimator input is described by multiplicative noises. A finite-state random process is introduced to model time-varying fading channels. Necessary and sufficient conditions for MSQ detectability are given in the form of algebraic Riccati equations or linear matrix inequalities. In addition, explicit conditions on network for MSQ detectability over finite-state independent identically distributed (i.i.d.) fading channels are presented in terms of the Mahler measure of the unstable and multi-output plant. Finally, application to Gilbert-Elliott channels (GECs) is provided to demonstrate the derived results.

关键词： Fading channels

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