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EKF based distributed cooperative localization for a multirobot team

EKF based distributed cooperative localization for a multiro...

引用

international conference on control, automation, robotics and vision

作者： Chuxi Li Jieying Lu Weizhou Su School of Automation Sci. & Eng. South China University of Technology Guangzhou China

ISBN: (纸本)9781509035502

this paper studies distributed cooperative localization problem for a multirobot team with one leader and two followers. Each robot in the team is equipped local sensors and can exchange data with its neighbors through wireless communication network. A distributed localization algorithm is developed by using extended Kalman filter (EKF) scheme. In every sampling period, each member in the team estimates its local state based on its local measurements and neighbor's state estimation information sent from its neighbors at current sampling time or last sampling time. A simulation result shows that the algorithm is feasible.

关键词： distributed cooperative location Mobile robots extended Kalman filter

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Communication protocol design in event-triggered control of multi-agent systems

Communication protocol design in event-triggered control of ...

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

作者： Xiangyu Meng Lihua Xie Yeng Chai Soh EXQUISITUS Nanyang Technological University Singapore

ISBN: (纸本)9781509035502

A key problem in event-triggered control of multi-agent systems is to design triggering conditions. We first give an overview of existing triggering conditions used in the literature. However, not all existing triggering conditions can both relax continuous communication between neighboring agents and admit a positive lower bound of inter-event times. then, we propose two new triggering conditions based on edge information rather than neighbor information, and show that Zeno behavior is ruled out by using a time-dependent threshold and a periodic event detector, respectively. Moreover, we list some open problems which are worth the effort to launch future investigations.

关键词： Multi-agent systems Linear systems Clocks Closed loop systems Asymptotic stability Symmetric matrices Laplace equations

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Optimal impulse control for cow parturient paresis treatment design

Optimal impulse control for cow parturient paresis treatment...

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international conference on control, automation, robotics and vision

作者： Xiaohua Wang Yueyue Xing Zhonghua Miao S. N. Balakrishnan Shanghai Key lab of Power Station Automation Technolgoy Department of Automation Shanghai University Shanghai 200072 P. R. China Department of Mechanical & Aerospace Engineering Missouri University of Science and Technology Missouri 65401 United States

ISBN: (纸本)9781509035502

Parturient paresis(milk fever) is a common disease associated with the onset of parturition in dairy cows. the disease is considered due to a large increased demand for calcium. Several work has mathematically and biologically modelled this process. Based on the existing models on calcium dynamics in diary cows, an optimal impulse treatment is proposed in this paper. the treatment is executed at a fixed time interval and lasts a relatively very small time duration, which is termed as a "fixed time impulse" control. For the optimization, with a selected objective function, a series of equations for optimality are to be satisfied, including control equations, costate equations and state equations. those impulsive differential equations form a two point boundary value problem and are difficult to solve. A numerical scheme, SNAC(Single Network Adaptive Critic), is then proposed. the algorithm key is to use one neural network to capture the optimal relation between the pre-impulse state and the after-impluse costate. After the neural network is trained and the relation is captured, the optimal impulse dosage of medicine can be provided when a parturient paresis is detected, and the cow's calcium level can be brought back to the normal status. Simulations are presented for illustrative purposes.

关键词： Calcium Mathematical model Cows Biological system modeling Plasmas Adaptation models Linear programming

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Application of fuzzy enhancement in moving object detection and tracking

Application of fuzzy enhancement in moving object detection ...

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

作者： Zhengguang Xu Shuai Zhang Jinjun Wang School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing China

ISBN: (纸本)9781509035502

In this paper, we propose an improved fuzzy enhancement algorithm for the moving object detection and tracking. A new membership function is proposed based on the theory of fuzzy sets, which improves the traditional Pal-King fuzzy enhancement algorithm and overcomes the loss of gray information after the processing of enhancement. Since a gray image with multiple targets need more than one crossover point (threshold) for image segmentation, a method for multi-threshold segmentation based on Otsu algorithm is proposed. this method can get multiple thresholds of the image accurately in a short time. After the processing of fuzzy enhancement the moving object is detected and tracked according to the image centroid. Experimental results show that the proposed algorithm can achieve moving object detection and tracking accurately and quickly.

关键词： Aluminum Object detection Image segmentation Temperature measurement Fuzzy sets Algorithm design and analysis Cameras

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A new distributed algorithm of clock synchronization for static sensor networks

A new distributed algorithm of clock synchronization for sta...

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international conference on control, automation, robotics and vision

作者： Yong Qiao Wenlun Yang Minyue Fu School of Control Science and Engineering Zhejiang University Hangzhou 310027 P. R. China School of Electrical Engineering and Computer Science University of Newcastle NSW 2308 Australia

ISBN: (纸本)9781509035502

In this paper, a new distributed algorithm is presented to achieve the consensus of time variations and that of initial time simultaneously. By combining both controller and estimator design methods, it obtains higher synchronization precision with stronger robustness against noisy inputs resulted from crystal oscillators. Furthermore, the control input is ensured bounded to make our algorithm realizable in practical implementation. the implementation of the algorithm allows the receiving end to be event-triggered, while the transmitting end is executed periodically. the performance of the algorithm is illustrated by the given numerical simulations.

关键词： Synchronization Clocks Peer-to-peer computing Algorithm design and analysis Eigenvalues and eigenfunctions Robot sensing systems Nickel

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Fault detection for delta operator systems with packet dropout and limited communication

Fault detection for delta operator systems with packet dropo...

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international conference on control, automation, robotics and vision

作者： Duanjin Zhang Yingqing Zhao School of Information Engineering Zhengzhou University Zhengzhou China

ISBN: (纸本)9781509035502

Considering time-delay networked control systems with packet dropout and limited communication, the fault detection is studied via delta operator. Depicting the model of data losses as Bernoulli distribution and exploiting limited output channels for data transmission, an H∞ fault detection filter and a residual generator are developed on the basis of the state observer. then, sufficient conditions for the residual systems to be asymptotically stable and ensure the H∞ performance index are given in terms of Lyapunov functional technique and linear matrix inequalities (LMIs) approach in delta domain. the designed filter can ensure that the residual signal is sensitive to failures. Finally, the applicability of the presented method is demonstrated by a simulation example.

关键词： delta operator networked control systems fault detection limited communication packet dropout

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Prediction of water quality base on kernel clustering least squares support vector regression

Prediction of water quality base on kernel clustering least ...

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international conference on control, automation, robotics and vision

作者： Conggui Yuan Shuqiong Xu Xinzheng Zhang Electronic Engineering Department Dongguan Polytechnic Dongguan China Automation Department Guangdong University of Technology Guangzhou China

ISBN: (纸本)9781509035502

Based on the least squares support vector regression and the Nystrom approximation, it becomes possible to apply a nonlinear model for the prediction problem of water quality with large sample. this is done by using a reduce rank approximation of the nonlinear mapping induced by the primal kernel matrix, with an active selection of support vectors based on an unsupervised kernel clustering algorithm. the proposed method is applied to predict the chloride of the East River, for the case of 24-hours ahead prediction. the results show that it can avoid the memory overflowing during the training on large sample, and improve the learning efficiency significantly with desired accuracy.

关键词： Nystrom Approximation Prediction of Water Quality Learning of Large Sample Least Squares Support Vector Regression

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Leader-following consensus for heterogeneous multi-agent systems with bounded communication delays

Leader-following consensus for heterogeneous multi-agent sys...

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

作者： Dun Wang Mei Yu School of Control and Computer Engineering North China Electric Power University Beijing P. R. China

ISBN: (纸本)9781509035502

In this paper, leader-following consensus of the discrete-time heterogenous multi-agent system with bounded communication delays is studied. the heterogeneous multi-agent system is composed of first-order and second-order integrator agents. By applying the graph theory and the algebra theory, sufficient consensus criteria are obtained to guarantee that each agent can track the leader. Despite there exist bounded time delays among agents, consensus can also be realised under fixed and switching topologies. Event-triggered control laws are designed to reduce the frequency of individual actuation updating. Numerical examples are provided to demonstrate the effectiveness of the theoretical results.

关键词： Multi-agent systems Delays Topology Switches Eigenvalues and eigenfunctions Graph theory Delay effects

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Fixed-time synchronization of a class of second-order nonlinear multi-agent systems

Fixed-time synchronization of a class of second-order nonlin...

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

作者： Hua Li Haibo Du Chen Yang Wenwu Zhu Xiangyu Wang School of Electrical Engineering and Automation Hefei University of Technology Hefei China School of Automation Southeast University Nanjing Jiangsu China

ISBN: (纸本)9781509035502

the fixed-time synchronization problem for a class of second-order nonlinear multi-agent systems with a leader-follower architecture is investigated in this paper. To achieve the fixed-time tracking, the design procedure is divided into two steps. At the first step, a distributed fixed-time estimator is designed for each agent to estimate the leader's state in a fixed time. then, at the second step, based on the technique of adding a power integrator, a fixed-time tracking controller for each agent is proposed such that the estimate leader's state can be tracked in a fixed time. Finally, an estimator-based fixed-time controller is developed such that the leader can be tracked by all the followers in a fixed time. Simulations are presented to verify the effectiveness of the proposed approach.

关键词： Multi-agent systems Synchronization Algorithm design and analysis Observers automation Heuristic algorithms Topology

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Simultaneous localization and mapping using monocular direct method

Simultaneous localization and mapping using monocular direct...

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international conference on control, automation, robotics and vision

作者： Chao Meng Baiwei Guo Xin Liu Key Laboratory of Dynamics and Control of Flight Vehicle Ministry of Education Beijing Institute of Technology Beijing China

ISBN: (纸本)9781509035502

In this paper, we accomplish simultaneous localization and mapping using the monocular LSD-SLAM. this method is different with feature method, estimating the accurate and reconstructing the large scale environment map. Using the direct image alignment, the environment can be mapped in pose-graph of key frames semi-dense maps. the LSD-SLAM contains two advantage. A novel direct tracking method can definitely estimate the scale-drift. In addition, the probabilistic estimation can optimize the effect of noisy depth values on tracking. the experiment showed the LSD-SLAM is reliability, robustness and real-time.

关键词： semi-dense maps direct image alignment LSD-SLAM probabilistic estimation

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