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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4911-4920 订阅

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Hierarchical Decomposition and Prescribed Performance Bound based Adaptive control for Leader-Follower Formation of Uncertain Nonholonomic Mobile Robots

Hierarchical Decomposition and Prescribed Performance Bound ...

引用

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

作者： Jiajun Shen Wei Wang Jinhu Lü Chao Deng School of Automation Science and Electrical Engineering Beihang University Beijing China Beijing Advanced Innovation Center for Big Data and Brain Computing Beihang University Beijing China School of Electrical and Electronic Engineering Nanyang Technological University Singapore

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

In this paper, the cooperative formation control problem is investigated for multiple two-wheeled mobile robots with unknown parameters. By combining the hierarchical decomposition and prescribed performance bound (PPB) technique, distributed adaptive formation controllers are designed based on dynamic surface control. It is proved in the Lyapunov sense that all the closed-loop signals are semi-globally bounded and the tracking error converges to a compact set, which can be made arbitrarily small by adjusting the design parameters appropriately. Furthermore, formation maintenance, connectivity preservation and collision avoidance can be achieved with the proposed control scheme. Simulations are also given to verify the effectiveness of the theoretical results.

关键词： Mobile robots Robot kinematics Wheels Collision avoidance Directed graphs Kinematics Information processing

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Robust Model Predictive control for Markovian Jump Systems with All Unstable Modes

Robust Model Predictive Control for Markovian Jump Systems w...

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

作者： Bin Zhang Yan Song University of Shanghai for Science and Technology Shanghai China

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

In this paper, robust model predictive control (RMPC) problem is investigated for a class of Markovian jump systems with unstable modes under polytopic uncertainties and hard constraints. the transition probability matrix and a mode-dependent control strategy in the framework of RMPC are co-designed. Moreover, in order to design a switching rule for the mean-square stability of the jump system, an off-line design scheme is first proposed to guarantee the on-line mode-dependent model predictive controller design. For the “on-line” part, a set of mode-dependent state feedback controllers is designed to minimize an upper bound of the worst-case infinite horizon cost function in terms of the solutions to a series of linear matrix inequalities. Finally, an simulation example regarding the economic system is implemented to verify the effectiveness of the proposed design scheme.

关键词： Uncertainty Linear matrix inequalities Switches State feedback Predictive control Stability criteria Cost function

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Adaptive Design of a Cyber-Physical System for Industrial Risk Management Decision Support

Adaptive Design of a Cyber-Physical System for Industrial Ri...

引用

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

作者： Andrzej M.J. Skulimowski Paweł Łydek Decision Science Laboratory AGH University of Science and Technology Kraków Poland Progress & Business Foundation International Centre for Decision Sciences and Forecasting Kraków Poland Decision Science Laboratory AGH University of Science and Technology Chair of Automatic Control and Robotics Kraków Poland

ISBN: (纸本)9781665476881

this article presents an integrated design of intelligent decision support systems (DSSs) for industrial risk management. the need for this class of systems has been necessitated by resilience building and threat response planning problems faced by complex industrial installations in energy and mining sectors. the proposed DSS software architecture is AI-based and applies causal and anticipatory networks, multi-criteria analysis, information fusion and knowledge engineering techniques. the use of AI-tools follows the AI-alignment paradigm, where AI evolution provides clues regarding the most suitable techniques to solve anticipated industrial safety problems in different time scales. We propose a general scheme of industrial risk management which includes threats, sensors, information flows, and decision-making models. this scheme is complemented by the risk optimization module, which selects the actions and actuators to implement them. Signals received from sensors are fused and confronted with threat management scenarios contained in the knowledge base. the recommendations concerning prevention, protection, and threat mitigation measures are generated by the DSS and conveyed to human decision makers for approval. Selected actions can also be autonomously initiated. Previous activity assessments result on an improved configuration of sensors and actuators, as well as more effective first responder actions. threat and risk management modules of the DSS are linked by a sequential machine learning procedure, so that the results of prior decisions can be used to learn managerial preferences and parameters of risk mitigating scenarios.

关键词： Decision support systems Economics Decision making Cyber-physical systems Hazards Sensors Risk management

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Consensus-based formation control and obstacle avoidance for nonholonomic multi-robot system

Consensus-based formation control and obstacle avoidance for...

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

作者： Daravuth Koung Isabelle Fantoni Olivier Kermorgant Lamia Belouaer Laboratoire des Sciences du Numerique de Nantes (LS2N) Ecole Centrale de Nantes (ECN) and E-COBOT France LS2N and CNRS LS2N and ECN E-COBOT

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

Managing multiple robots into a formation can be beneficial, especially in logistics sectors where multiple robots can work together to transport larger loads. this paper presents a consensus control law for formation with navigation and obstacle avoidance of multiple wheeled mobile robots. the formation control is based on adapting a consensus algorithm from flocking, and we propose an obstacle avoidance methodology that ensures the formation while navigating around obstacles. Simulations of the control law using four wheeled mobile robots as well as experiments using actual industrial robots are shown in order to validate the theory.

关键词： Robots Collision avoidance Mobile robots Navigation Robot kinematics Multi-robot systems Task analysis

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Hybrid Multi-Robot System for Drilling and Blasting automation

Hybrid Multi-Robot System for Drilling and Blasting Automati...

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

作者： Dac Dang Khoa Nguyen Yujun Lai Sheila Sutjipto Gavin Paul Center for Autonomous Systems (CAS) Faculty of Engineering and Information Technology University of Technology Sydney (UTS) Sydney Australia

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

Multi-robot systems possess the potential of becoming the next generation of robots in the mining industry due to their robustness and scalability. However, they present challenges for the system to efficiently allocate tasks to each robot and allow them to navigate toward their targets safely. this paper introduces a hybrid approach method for a multi-robot system, alongside with a case study in drilling and blasting automation. A Centralized control Unit delegates tasks and information among the robots in the system, each equipped with a decentralized motion planner that supports cooperative inter- robot collision avoidance. the proposed system inherits the advantage of a centralized multi-robot system in providing a time-wise optimal solution; while also possessing the computational benefit and scalability of a decentralized system. Simulations were conducted to validate the proposed method and discuss insights into the efficacy and performance of the proposed method.

关键词： Robots Task analysis Collision avoidance Robot kinematics Planning Multi-robot systems Service robots

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Searching for High Accuracy Mix-Bitwidth Network Architecture

Searching for High Accuracy Mix-Bitwidth Network Architectur...

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

作者： Haochong Lan Zhiping Lin Xiaoping Lai School of Electrical and Electronic Engineering Nanyang Technological University Singapore School of Automation Hangzhou Dianzi University Hangzhou China

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

the quantization of deep neural networks has drawn great research interest as well as industrial support for its tremendous advantages on boosting the inference speed of convolutional neural network models, especially on resource-constrained devices. Emerging research work and software framework for low-bit quantization, i.e., quantization under 8 bits, also shows strong potential. However, extreme low-bit neural network, e.g., binary neural network (BNN), suffers from significant accuracy loss. A previous work tried to improve the performance of extreme low-bit neural networks by adjusting channel numbers but achieves a poor balance between accuracy and model size. Alternatively, adjusting bitwidth for each layer gains a higher return on accuracy with an acceptable increase in model size. In this work, we employ a genetic algorithm to find the optimal bitwidth assignation for layers in VGG-Small and ResNet18. Both searched mix-bitwidth network architectures achieve higher accuracy with lower time and memory consumption, compared to their fix-bitwidth counterparts. A further investigation on the combination of BNN and the intermediate layer of higher bitwidth is also conducted.

关键词： Quantization (signal) Neural networks Computer architecture Network architecture Computational modeling Acceleration Training

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User perception of usability aspects in indirect HRI - A chain of translations

User perception of usability aspects in indirect HRI - A cha...

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19th IEEE international conference on Robot and Human Interactive Communication, RO-MAN 2010

作者： Weiss, Astrid Igelsböck, Judith Pierro, Paolo Buchner, Roland Balaguer, Carlos Tscheligi, Manfred ICT and S Center University of Salzburg Sigmund-Haffner-Gasse 18 5020 Salzburg Austria Robotics Lab. Universidad Carlos III de Madrid Spain

ISBN: (纸本)9781424479917

this article reports on the results of a user study that investigates the perceived usability of naïve users conducting two navigation tasks with the HOAP-3 robot. In this user study, the robot was controlled via a Graphical User Interface (GUI) that enabled the users to navigate the robot in the physical environment. the main goal of the user study was to gain insights on the question if users assign usability issues mainly to the robot, the GUI, or both. the participants performed two tasks: (1) navigating the robot through a maze to find the exit, (2) navigating the robot through the maze to find an object. the user study was supplemented by the think aloud technique and the SUS questionnaire to investigate usability aspects. Furthermore, task duration and task completion were measured. the results stress that the users rated the overall usability of the navigation rather positive. they identified usability problems for both, the GUI and the robot itself. the participants made more suggestions for improving the interface than for improvement of the robot. A reflection on the think aloud data revealed, however, three underlying principles ("feeling of distance", "lack of orientation", and "lack of control" ) for the usability problems that were independent of the assignment to the GUI and the robot. © 2010 IEEE.

关键词： Robots

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Connectivity Preservation and Collision Avoidance of Multi-Unmanned Surface Vehicles Via Adaptive Sliding control

Connectivity Preservation and Collision Avoidance of Multi-U...

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

作者： Haobo Kang Hong-Jun Ma Shuai Shao Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning P. R. China College of Information Science and Engineering Northeastern University Shenyang Liaoning P. R. China

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

this paper investigates the connectivity preservation and collision avoidance problems of a multi-unmanned surface vehicle (USV) system. In order to achieve these two goals more effectively, an improved artificial potential function (APF) is designed. For the sake of solving the issue of nonlinear disturbance, a fuzzy sliding mode control method combined with fuzzy radial basis function neural network (Fuzzy-RBFNN) is introduced. then by Lyapunov method, it can be proved that the system which employs the control scheme proposed in this paper is stable. In addition, the theoretical deduction proves that the USV can track a given ideal signal, and the connectivity preservation and collision avoidance of the multi-USV system can be achieved during formation. Finally, a multi-USV system model including four USVs is established, and the control strategy designed in this paper is adopted to conduct simulation experiments with MATLAB. the results testify that this control project is valid.

关键词： Collision avoidance Multi-agent systems Force automation Artificial neural networks Vehicle dynamics Unmanned aerial vehicles

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Consensus of Second-order Matrix-weighted Multi-agent Networks

Consensus of Second-order Matrix-weighted Multi-agent Networ...

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

作者： Chongzhi Wang Lulu Pan Dewei Li Haibin Shao Yugeng Xi Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

this paper investigates consensus problem of second-order multi-agent system on matrix-weighted networks. It is shown that when the null space of the Gauge transformed graph Laplacian is spanned by the Kronecker product of an all-one vector and a set of orthogonal vectors, the algebraic multiplicity of eigenvalue zero cannot exceed the nullity of the graph Laplacian, thus admitting a proper blocking of the system matrix's Jordan normal form. Second-order bipartite consensus is thereby achieved independent of the structural balance of the network. Simulation examples are provided to demonstrate the theoretical results.

关键词： Laplace equations Symmetric matrices Null space Eigenvalues and eigenfunctions Multi-agent systems Convergence Dynamical systems

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A Switched System Approach Against Time-Delay Attacks in Cyber- Physical Systems

A Switched System Approach Against Time-Delay Attacks in Cyb...

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

作者： Tongxiang Li Bo Chen Li Yu Institute of Cyberspace Security Zhejiang University of Technology Hangzhou China

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

this paper investigates the modeling and stabilization problem for cyber-physical systems (CPSs) under time-delay attacks. First of all, the attack-induced delays are divided into multiple equilong subintervals and each subinterval is separated into a nominal part and an uncertain part. then, the system is considered to dwell in different subsystems when the attack-induced delays fall into different subintervals. In this way, the CPS is modeled as a discrete-time switched system with norm-bounded uncertainties. Moreover, the mode-dependent controller is designed to defend the time-delay attacks and guarantee the exponential stability of the closed-loop CPS, which is switched according to the attack-induced delays and implemented combined with the packet-based control strategy. Finally, the experiments of a networked inverted pendulum control system are given to demonstrate the effectiveness of the proposed method.

关键词： Delays control systems Switches Actuators Switched systems Uncertainty Communication channels

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