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

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Differential Enhancement and Commonality Fusion for RGBT Tracking 20

Differential Enhancement and Commonality Fusion for RGBT Tra...

引用

20th IEEE international conference on Mechatronics and automation, ICMA 2023

作者： Yang, Jianrong Dong, Enzeng Tong, Jigang Yang, Sen Zhang, Zufeng Li, Wenyu Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Intelligent Robot Laboratory 391 Binshui West Road Tianjin China Nankai University College of Artificial Intelligence 94 Weijin Road Tianjin China

ISBN: (纸本)9798350320831

Target tracking is a fundamental task and an important part in the field of computer vision. the image information contained in the visible (RGB) modality and thermal infrared (T) modality has differences. RGBT tracking utilizes this difference to fuse the information of the two modalities, fully combining the uniqueness and complementarity of the information of the two modalities. How to maximize the uniqueness of individual modalities in RGBT tracking and how to effectively combine the complementarity of the two modalities is the key issue in RGBT tracking. For the combination of the uniqueness and complementarity of the two modalities, a novel Differential Enhancement and Commonality Fusion Network (DECFNet) is designed in this paper, in which the main components include a feature enhancement module for the visible modality and a feature enhancement module for the thermal infrared modality, as well as a fusion module that effectively fuses the information of both. the results on three RGB T tracking benchmark datasets demonstrate the effectiveness of the proposed method. © 2023 IEEE.

关键词： Target tracking

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Mean Field LQ Games with a Finite Number of Agents

Mean Field LQ Games with a Finite Number of Agents

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

作者： Bing-Chang Wang Huanshui Zhang Minyue Fu School of Control Science and Engineering. Shandong University Jinan P. R. China College of Electrical Engineering and Automation Shandong University of Science and Technology Qingdao P. R. China School of Electrical Engineering and Computer Science University of Newcastle NSW Australia

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

In this paper, we are concerned with a new class of mean field games which involve a finite number of agents. With help of conditional mathematical expectation, we obtain necessary and sufficient conditions for the existence of the decentralized open-loop Nash equilibrium for finite-population games. By decoupling a non-standard forward-backward stochastic differential equation, we design a set of decentralized strategies in term of two differential Riccati equations. Instead of the s-Nash equilibrium, the set of decentralized strategies is shown be a Nash equilibrium. Furthermore, we examine the infinite-horizon problem and give a neat condition for solvability of the related algebraic Riccati equation.

关键词： Games Nash equilibrium Statistics Sociology Riccati equations Decentralized control Mathematical model

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Delay Margin for Containment control of Second-Order Multi-Agent Systems Over Directed Graphs*

Delay Margin for Containment Control of Second-Order Multi-A...

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

作者： Xueyan Ma Dan Ma College of Information Science and Engineering Northeastern University Shenyang China College of Information Science and Engineering State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang China

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

In this paper, we mainly study the delay robustness on containment control of second-order multi-agent systems with uncertain communication delays over directed graphs. Our purpose is to find the maximal delay range that can be tolerated under which the multi-agent system can maintain containment robustly. We consider a second-order multi-agent system under position and velocity feedback protocols in which each agent has two unstable real poles. We derive the exact expression of the delay margin for multi-agent system containment. Furthermore, based on the analysis of the exact delay margin, we obtain its explicit upper bound. the results show that the position of poles and the network connectivity will affect the bound of delay margin. Finally, a numerical example is used to illustrate the effectiveness of the proposed theoretical results.

关键词： Delays Protocols Multi-agent systems Directed graphs Upper bound Topology Eigenvalues and eigenfunctions

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Nonovershooting Regulation of an Under-Sensed and Under-Actuated Linear Inverted Pendulum

Nonovershooting Regulation of an Under-Sensed and Under-Actu...

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

作者： Chao Chen Di Zhao Li Qiu The Hong Kong University of Science and Technology Shenzhen Research Institute Shenzhen China

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

this paper studies a nonovershooting regulation problem of an under-sensed and under-actuated system using two-degree-of-freedom (2DOF) control. An under-sensed and under-actuated linear inverted pendulum, which only has a single position sensor unlike the standard set-up, is investigated. For this system, first we present a regulation task that comprises three requirements, namely a nonovershooting step response, the largest robust stability margin and a 2DOF controller of the minimum order. then we study the issue of controller design and develop a fourth-order 2DOF controller via the Youla-parameterization and the loop-shaping approaches. Finally, the proposed 2DOF controller is demonstrated to be effective.

关键词： Regulation Robust stability Robot sensing systems control systems Linear systems Games Standards

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An adaptive PID-type iterative learning controller unknown nonlinear systems

An adaptive PID-type iterative learning controller unknown n...

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

作者： Y.-C. Wang C.-J. Chien D.-T. Lee Institute of Information Science Academia Sinica Taipei Taiwan Department of Electronic Engineering Hufan University Taipei Taiwan

To deal with an iterative learning control problem of unknown nonlinear systems with varying initial state errors and state dependent input gain, an adaptive PID-type iterative learning controller is presented in this paper. the main design concept is motivated from a fact that a PID-type controller can be used as an approximator for an optimal controller in a compact set. the main structure of the adaptive PID-type iterative learning controller is constructed based on a time-varying boundary layer, which is designed to overcome the problem of initial state errors and further eliminate the possible undesirable chattering behavior. An error equation is then derived to represent the relation between the control input and system tracking error. Since the optimal PID gains for the best approximation is in general unavailable, the control parameters are tuned between successive iterations to ensure the stability and convergence. Compared with most of the adaptive laws in the field of adaptive iterative learning control, the proposed adaptive law can be realized without using projection or dead zone mechanism. It is shown that all the adjustable parameters and the internal signals remain bounded for all iterations, and the norm of tracking error vector at each time instant would asymptotically converge to a tunable residual set.

关键词： Programmable control Adaptive control Nonlinear control systems control systems Nonlinear systems Error correction Optimal control Equations three-term control Stability

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A Design of Longitudinal and Lateral controllers for Autonomous Driving System in Carla Simulator

A Design of Longitudinal and Lateral Controllers for Autonom...

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international conference on robotics and automation Engineering (ICRAE)

作者： Fengchen Wei Weiji Wang Hanwen Liu Dept. Engineering and Design University of Sussex Brighton UK SPRU University of Sussex Brighton UK

ISBN: (数字)9798331518301

ISBN: (纸本)9798331518318

Research on the design of autonomous vehicle controllers has always been the focus and difficulty in the field of autonomous driving. However, with the rapid development of artificial intelligence technology and the continuous revolutionary achievements in natural language processing and computer vision, more and more autonomous driving researchers have focused their research on the perception field of autonomous vehicles and ignored the research on controllers. Even if there are some studies on controllers, they only focus on lateral control or longitudinal control, and there are few comprehensive considerations of lateral and longitudinal vehicle controller designs. Our work makes up for this deficiency. First, we selected different controller designs for the vehicle’s lateral and longitudinal control, respectively, and conducted hundreds of simulation experiments under the same scenario, speed, and trajectory planning algorithm to obtain lateral and longitudinal controller design solutions suitable for specific scenarios; second, we compared different autonomous driving simulation platforms and finally chose Carla as our simulation platform.

关键词： Computer vision Trajectory planning Neural networks Natural language processing Artificial intelligence robotics and automation Autonomous vehicles Testing

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A neuro-cognitive system and its application in robotics

A neuro-cognitive system and its application in robotics

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international conference on control and automation (ICCA)

作者： Huajin Tang Bo Tian Vui Ann Shim K. C. Tan Institute for Infocomm Research Agency for Science Technology and Research Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore

this paper presents a brain inspired neural architecture with spatial cognition and navigation capability. the brain inspired system is mainly composed of two parts: a bio-inspired hierarchical vision architecture (HMAX) and a hippocampal-like circuitry. the HMAX encodes vision inputs as neural activities and maps to hippocampal-like circuitry which stores this information. Sensing a similar neural activity pattern this information can be recalled. the system is tested on a mobile robot which is placed in a spatial memory task. Among the regions in hippocampus, CA1 has place dependance response. With this property, the hippocampal-like circuitry stores the goal location according to the vision pattern, and recalls it when a similar vision pattern is seen again. the place dependent pattern of CA1 guides the motor neuronal area which then dictates the robot move to the goal location. the result of our current study indicates a possible way of connection between hippocampus and vision system, which will help robots perform a rodent-like behavior in the end.

关键词： Hippocampus Neurons Brain modeling Navigation Robot sensing systems Visualization

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Military robots - a glimpse from today and tomorrow

Military robots - a glimpse from today and tomorrow

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

作者： J. Khurshid Hong Bing-rong Multi-Agent Lab School of Computer Science and Technology Harbin Institute of Technology Harbin China

the military forces always tried to use new gadgets and weapons for reducing the risk of their casualties and to defeat their enemies. With the development of sophisticated technology, it mostly relies on the high tech weapons or machinery being used. robotics is one of the hot fields of modern age in which the nations are concentrating upon for military purposes in the state of war and peace. they have been in use for some time for demining and rescue operations but now they are under research for combat or spy missions. Today's modern military forces are using different kinds of robots for different applications ranging from mine detection, surveillance, logistics and rescue operations. In the future they will be used for reconnaissance and surveillance, logistics and support, communications infrastructure, forward-deployed offensive operations, and as tactical decoys to conceal maneuver by manned assets. In order to make robots for the unpredicted cluttered environment of the battlefield, research on different aspects of robots is under investigation in laboratories to be able to do its job autonomously, as efficiently as a human operated machine can do. Latest techniques are being investigated to have advanced and intelligent robots for different operations. this paper presents different kinds of robotic technologies being used in all the three main forces, Navy, Army and Air. Some of the robots discussed are also being used in the wars of Afghanistan and Iraq, also, the robots that are under investigation in laboratories for future military operations. these robots are under investigation for autonomous and cooperative environment. We focus our attention on the uses of robots in war and peace as well as their impact on society.

关键词： Animals Weapons robotics and automation Robot sensing systems Service robots Military computing Java Modems Surveillance Logistics

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Intelligent Computing Methodologies 1

引用

丛书名： Lecture Notes in Computer Science

1000年

作者： De-Shuang Huang Abir Hussain Kyungsook Han M. Michael Gromiha

ISBN: (数字)9783319633152

ISBN: (纸本)9783319633145

this three-volume set LNCS 10361, LNCS 10362, and LNAI 10363 constitutes the refereed proceedings of the 13th international conference on Intelligent Computing, ICIC 2017, held in Liverpool, UK, in August 2017. the 212 full papers and 20 short papers of the three proceedings volumes were carefully reviewed and selected from 612 submissions. this third volume of the set comprises 67 papers. the papers are organized in topical sections such as Intelligent Computing in robotics; Intelligent Computing in Computer vision; Intelligent control and automation; Intelligent Agent and Web Applications; Fuzzy theory and Algorithms; Supervised Learning; Unsupervised Learning; Kernel Methods and Supporting Vector Machines; Knowledge Discovery and Data Mining; Natural Language Processing and Computational Linguistics; Advances of Soft Computing: Algorithms and Its Applications - Rozaida Ghazali; Advances in Swarm IntelligenceAlgorithm; Computational Intelligence and Security for Image Applications in Social;Network; Biomedical Image Analysis; Information Security; Machine Learning; Intelligent Data Analysis and Prediction.

关键词： Artificial Intelligence Information Systems Applications (incl. Internet) Information Storage and Retrieval Image Processing and Computer vision Data Mining and Knowledge Discovery Algorithm Analysis and Problem Complexity

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Mature Tomato Fruit Detection Algorithm Based on improved HSV and Watershed Algorithm

Mature Tomato Fruit Detection Algorithm Based on improved HS...

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6th international-Federation-of-Automatic-control (IFAC) conference on Bio-robotics (BIOrobotics)

作者： Malik, Muhammad Hammad Zhang, Ting Li, Han Zhang, Man Shabbir, Sana Saeed, Ahmed China Agr Univ Key Lab Modern Precis Agr Syst Integrat Res Minist Educ Beijing Peoples R China Beijing Beida Software Engn Co Ltd Beijing Peoples R China China Agr Univ Coll Informat & Elect Engn Beijing Peoples R China

Tomato is well known fruit since it has many essential and beneficial nutrients like antioxidant, vitamin C and A for human daily diet. Tomato picking by hand is both labor and time consuming. therefore, to overcome these issues, tomato needs to be picked up automatically with the help of harvesting robot. Recently automation of fruit harvesting gains great popularity. To guide the harvesting robot to pick up the fruit correctly, it is important to correctly detect and find the location of the red mature fruit. In this study, a new mature tomato detection algorithm based on the improved HSV (Hue, Saturation, Value) color space and the improved watershed segmentation was proposed, by using a cheap and easily accessible RGB camera for guiding a robot to pick up red tomatoes automatically. For that purpose, the color images of tomato plants were captured under natural light. At the first stage, improved HSV transform was used to remove background and to detect only red tomatoes. then the morphological operations were applied to modify the detected fruit. the second step was the separation of connected fruits, so that the harvesting robot can pick up fruit correctly. To achieve this task, the improved watershed algorithm was applied. As a result, the detection of separated red mature tomato was done by using the improved HSV and watershed, with uneven illumination and complex background. the overall red fruit detection accuracy was up to 81.6%, and it shows good potential to be used on harvesting robot. (C) 2018, IFAC (international Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Harvesting robot Computer vision Detection Localization HSV Watershed

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