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

共 5310 条记录，以下是301-310 订阅

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A vision-Only Drone Formation Waypoint Navigation Method 4

A Vision-Only Drone Formation Waypoint Navigation Method

引用

4th international conference on Industrial automation, robotics and control Engineering, IARCE 2024

作者： Zhang, Changhao Xiu, Zengqi Hu, Boxuan Pan, Yuyi Software Engineering Institude Beihang University Beijing China Ai Institude Beihang University Beijing China

ISBN: (纸本)9798350380323

Unmanned aerial vehicles (UAVs) have found widespread applications in various fields and scenarios, prompting extensive research on their formation control and route planning. However, in extreme application scenarios such as complex electromagnetic battlefields, existing studies often rely on radio frequency communication for data exchange between UAVs or utilize external sensors like GPS for positioning, which are susceptible to interference. To address this, we propose a method for distributed formation control of UAVs that solely relies on visual and inertial data, without data exchange between UAVs or the use of external positioning sensors like GPS. Drawing inspiration from the flight formations of migratory birds, our approach employs cameras to detect the orientations of neighboring UAVs. A simulation environment is constructed using a game engine to train a YOLO object detection network for reliable detection of other UAVs. Sub-sequently, utilizing geometric relationships, the positions of UAVs in the formation coordinate system are calculated, and our proposed formation control algorithm is applied to adjust the UAVs to their desired formation positions. Moreover, we employ the SIFT object detection algorithm to match images from the downward-facing camera of the UAV to satellite maps for obtaining global coordinates. Our introduced randomized navigator election algorithm selects a leading UAV for guiding the formation with higher accuracy along the intended route. through simulation experiments, we demonstrate that the proposed approach achieves comparable accuracy to traditional methods in most scenarios, while exhibiting strong robustness. © 2024 IEEE.

关键词： Drones

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Visual Navigation Datasets for Event-based vision: 2014-2021 18

Visual Navigation Datasets for Event-based Vision: 2014-2021

引用

18th international conference on Informatics in control, automation and robotics (ICINCO)

作者： Zujevs, Andrejs Nikitenko, Agris Riga Tech Univ Fac Comp Sci & Informat Technol Riga Latvia

ISBN: (纸本)9789897585227

Visual navigation is becoming the primary approach to the way unmanned vehicles such as mobile robots and drones navigate in their operational environment. A novel type of visual sensor named dynamic visual sensor or event-based camera has significant advantages over conventional digital colour or grey-scale cameras. It is an asynchronous sensor with high temporal resolution and high dynamic range. thus, it is particularly promising for the visual navigation of mobile robots and drones. Due to the novelty of this sensor, publicly available datasets are scarce. In this paper, a total of nine datasets aimed at event-based visual navigation are reviewed and their most important properties and features are pointed out. Major aspects for choosing an appropriate dataset for visual navigation tasks are also discussed.

关键词： Datasets Event-based vision Neuromorphic vision Visual Navigation Concise Review

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Time-Varying Setpoint Tracking for Batch Process control Using Reinforcement Learning

Time-Varying Setpoint Tracking for Batch Process Control Usi...

引用

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

作者： M U Abuthahir Nabil Magbool Jan Department of Chemical Engineering Indian Institute of Technology Tirupati Andhra Pradesh India

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

Batch processes are indispensable for the production of low-volume and high-value products. However, control of a batch process is challenging due to the inherent nonlinearity, and time-varying characteristics. In this work, we aim to provide a comparative study of reinforcement learning approaches to perform tracking of a time-varying setpoint trajectory in a batch process. this can be accomplished by defining suitable state vectors, actions, and rewards for batch process control. Upon discretizing the state and action space, we utilize two model-free reinforcement learning methods. the efficacy of these two reinforcement learning methods is demonstrated in a non-isothermal batch reaction system. Further, we compare the performance of these reinforcement learning controllers with the nonlinear model predictive controller.

关键词： Training Monte Carlo methods Batch production systems Process control Reinforcement learning Aerospace electronics Predictive models Vectors Trajectory Robots

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Finite-Time Model Predictive control for Constrained Continuous-Time Systems

Finite-Time Model Predictive Control for Constrained Continu...

引用

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

作者： Bing Zhu Xiaozhuoer Yuan Xianming Ye The Seventh Research Division Beihang University Beijing P.R. China Department of Electrical Electronic and Computer Engineering University of Pretoria Pretoria South Africa

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

In this paper, a finite-time model predictive control (MPC) framework is proposed for continuous-time systems subject to constraints. the proposed finite-time MPC is ex-tended from the methodology for discrete-time systems, where the control horizon is set equal to the system dimension, and only terminal cost is penalized in the optimization. Zero-Order-Holder (ZOH) is applied to ensure that no ripple exists between two consecutive sampling intervals, such that finite-time tran-sient process and zero steady-state error can be guaranteed. Combined with feedback linearization, the proposed deadbeat MPC is applicable to nonlinear continuous-time systems.

关键词： Discrete-time systems Costs Stochastic processes Predictive models Feedback linearization Steady-state Transient analysis Optimization Robots Predictive control

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Formation control of Multiple Unmanned Aerial Manipulators

Formation Control of Multiple Unmanned Aerial Manipulators

引用

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

作者： Vidya A P Sneha Gajbhiye Department of Electrical Engineering Indian Institute of Technology Palakkad Palakkad Kerala India

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

this paper presents the control of multiple unmanned aerial manipulators that perform various manipulator tasks keeping a given formation. the Software-in-loop simulation is utilised to test and validate three cooperative algorithms, i.e., line formation tracking a piecewise continuous trajectory, circular trajectory in a cyclic pursuit, and finally a pick and place operation during formation. We employed leader-follower strategies and performed experiments using the Robot Operating System, Gazebo, and PX4. During the formation process, the manipulator is tested for various poses yet it maintained stability and followed the designated path. Performance of the proposed controller and algorithms are evaluated through real-time simulation analysis.

关键词： Robot kinematics Operating systems Transportation Grasping Manipulators Real-time systems Stability analysis Formation control Trajectory Payloads

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A vision-Integrated Navigation Method in AUV Terminal Mobile Docking Based on Factor Graph Optimization 8

A Vision-Integrated Navigation Method in AUV Terminal Mobile...

引用

8th international conference on automation, control and robotics Engineering, CACRE 2023

作者： Ma, Tianheng Chen, Shumin Ruan, Liang Xu, Yuanxin Zhejiang University College of Information Science and Electronic Engineering Hangzhou China Zhejiang Sci-Tech University Faculty of Informatics and Electronics Hangzhou China

ISBN: (纸本)9798350302776

the widespread use of Autonomous Underwater Vehicles (AUVs) highlights the need for autonomous docking, during which accurate pose estimation and navigation play a vital role. this paper proposes a multi-sensor fusion navigation framework based on the factor graph optimization method, integrating tightly-coupled visual information from the light array to provide high-accuracy and high-frequency relative pose estimations between AUV and its mobile dock at the terminal docking stage. Simulation results demonstrate that the proposed algorithm outperforms PnP and achieves smaller RMSE in relative attitude and translation estimations. Furthermore, the experiments show that the proposed algorithm provides smoother estimation results and that it has the potential to be deployed in embedded applications. © 2023 IEEE.

关键词： Computer vision

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Privacy-Preserving Distributed Secondary control Strategy for Islanded DC Microgrids

Privacy-Preserving Distributed Secondary Control Strategy fo...

引用

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

作者： Jiong Cai Zhi-Heng Wang Xiao-Kang Liu Yan-Wu Wang

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

Microgrid is a typical cyber-physical system which integrates the power flow and the communication flow. Privacy preservation of sensitive information delivering over the communication network has received significant attention. In this paper, a privacy-preserving distributed secondary controller is proposed for DC microgrids. the privacy information is subjected to an output mask function to ensure its anonymity, thereby providing real-time security for private power information. Furthermore, by employing event-triggered mechanism to determine the updating of control signals, current sharing and voltage regulation are achieved simultaneously. In addition, the decreasing event-triggered threshold improves the systems response speed and accuracy. Finally, the simulation and experimental cases demonstrate the effectiveness of the proposed controller.

关键词： Privacy Event detection Microgrids Real-time systems Robustness Security Voltage control Protection Robots Load flow

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Overview of Motion Planning Techniques and their Suitability for an Off-Road Navigation Use-Case

Overview of Motion Planning Techniques and Their Suitability...

引用

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

作者： Lucas Si Larbi Eric Lucet Julien Alexandre dit Sandretto Université Paris Saclay CEA List Palaiseau France U2IS ENSTA Paris Institut Polytechnique de Paris Palaiseau France

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

Motion planning for mobile robots involves defining set-points for their locomotion to reachable destinations, while taking into account the robot's dynamics and its interaction with the environment, which may be cluttered with rough terrain. Although the literature offers a wide range of strategies for this task, it remains difficult to get an overview of all available techniques and to choose the right approach for a given use-case. First, this article focuses on identification and classification of main families of motion planning techniques. then, based on a vast selection of surveys, reviews, case-studies and articles, and through specifically selected criteria, a comparative study of these methods is proposed for the specific use-case of wheeled robots navigating in complex and uneven terrains.

关键词： Surveys automation Navigation Reviews Dynamics Machine learning Planning Mobile robots Reliability

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Minimum Jerk Guidance for Autonomous Soft-Landing of an Unmanned Aerial Vehicle on a Moving Platform

Minimum Jerk Guidance for Autonomous Soft-Landing of an Unma...

引用

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

作者： P. S. V. S. Sai Kumar Radhakant Padhi Robert Bosch Center for Cyber Physical Systems Indian Institute of Science Bangalore India Department of Aerospace Engineering Indian Institute of Science Bangalore India

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

this paper introduces a new approach to achieving autonomous soft-landing of an unmanned aerial vehicle (UAV) on a moving platform. the proposed method incorporates terminal constraints on position, velocity, and acceleration by utilizing a minimum jerk-based guidance strategy. An optimal landing time is computed using an acceleration-minimizing cost function. Software-in-the-loop simulations are conducted using the PX4-ROS2-Gazebo environment to demonstrate successful landing on a moving platform. the results indicate that the proposed strategy generates smooth trajectories, enabling the UAV to autonomously achieve soft-landing on the moving platform, even when perturbations in the platform's motion are introduced.

关键词： automation Perturbation methods Computational modeling Autonomous aerial vehicles Cost function Trajectory Robots

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Robust Localization of a Mobile Robot Using Information Retrieval Techniques

Robust Localization of a Mobile Robot Using Information Retr...

引用

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

作者： Christophe Brouard Olivier Aycard GIPSA Lab - LIG Lab University of Grenoble Alpes (UGA) France

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

Localization is the ability for a mobile robot to know its position at all times. Most of the time, the localization process has to manage several possible positions that could correspond to the real one. the main drawback is that the cost of computational complexity could be high especially when the position of the mobile robot in its environment is unknown. In this paper, we present a new method to perform localization. the main interest of our method is that it is able to determine in a fast and robust way the best positions, using information retrieval techniques, that could correspond to the real one. Moreover, the number of positions is automatically adapted according to the confidence that we have in the localization of the robot. Experimental results show the benefits of the method.

关键词： Location awareness Costs automation Information retrieval Mobile robots Computational complexity

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