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A Topological Approach for Computing Supremal Sublanguages 16

A Topological Approach for Computing Supremal Sublanguages

引用

16th IEEE international conference on control, automation, robotics and vision (ICARCV)

作者： Lin, Liyong Zhu, Yuting Su, Rong Nanyang Technol Univ Sch Elect & Elect Engn 50 Nanyang Ave Singapore 639798 Singapore

ISBN: (纸本)9781728177090

In this paper, we provide a tutorial introduction to a topological approach for the computation of some supremal sublanguages, often specified by language equations, that arise in the study of the supervisory control theory. As an illustration, we show that the supremal sublanguages for properties such as normality, prefix-closedness, trace-closedness, L-closedness and prefix-closed controllability are supremal open subsets of certain topologies. thus, the supremal sublanguages correspond to the interiors and can be directly expressed.

关键词： discrete event systems supervisory control topology language equations Kuratowski closure

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PDE-based consensus control for leader-follower multi-agent systems

PDE-based consensus control for leader-follower multi-agent ...

引用

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

作者： Xiaofeng Cui Yankun He Zhijie Liu Zixu Wang Shizhen Zhao Shunde Graduate School of University of Science and Technology Beijing Foshan China Institute of Artificial Intelligence University of Science and Technology Beijing Beijing China Chinese Aeronautical Establishment College of Engineering and Physical Science University of Birmingham West Midlands United Kingdom School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing China

ISBN: (纸本)9781665476881

In this paper, we propose a control for a class of multi-agent systems described by diffusion partial differential equations to solve the leader-follower consensus problem. Each group of follower agents changes according to the leader group's formation, obtaining the desired formation by applying boundary control. We use the Lyapunov direct method to prove the system is uniformly ultimately bounded. Numerical simulation results finally show the validity of the proposed control.

关键词： Actuators automation Partial differential equations Process control Observers Consensus control Numerical simulation

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Detection-segmentation convolutional neural network for autonomous vehicle perception

Detection-segmentation convolutional neural network for auto...

引用

international conference on Methods and Models in automation and robotics (MMAR)

作者： Maciej Baczmanski Robert Synoczek Mateusz Wasala Tomasz Kryjak Department of Automatic Control and Robotics Embedded Vision Systems Group AGH University of Krakow Poland

Object detection and segmentation are two core modules of an autonomous vehicle perception system. they should have high efficiency and low latency while reducing computational complexity. Currently, the most commonly used algorithms are based on deep neural networks, which guarantee high efficiency but require high-performance computing platforms. In the case of autonomous vehicles, i.e. cars, but also drones, it is necessary to use embedded platforms with limited computing power, which makes it difficult to meet the requirements described above. A reduction in the complexity of the network can be achieved by using an appropriate: architecture, representation (reduced numerical precision, quantisation, pruning), and computing platform. In this paper, we focus on the first factor – the use of so-called detection-segmentation networks as a component of a perception system. We considered the task of segmenting the drivable area and road markings in combination with the detection of selected objects (pedestrians, traffic lights, and obstacles). We compared the performance of three different architectures described in the literature: MultiTask V3, HybridNets, and YOLOP. We conducted the experiments on a custom dataset consisting of approximately 500 images of the drivable area and lane markings, and 250 images of detected objects. Of the three methods analysed, MultiTask V3 proved to be the best, achieving 99% mAP 50 for detection, 97% MIoU for drivable area segmentation, and 91% MIoU for lane segmentation, as well as 124 fps on the RTX 3060 graphics card. this architecture is a good solution for embedded perception systems for autonomous vehicles. the code is available at: https://***/vision-agh/MMAR_2023.

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Optimization of a fractional order controller for the Furuta pendulum with an output disturbance using a genetic algorithm

Optimization of a fractional order controller for the Furuta...

引用

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

作者： Ewelina Cholodowicz Przemyslaw Orlowski West Pomeranian University of Technology in Szczecin Szczecin Poland

ISBN: (纸本)9781665476881

this study presents optimal control design based on the fractional controller for the Furuta pendulum model with a disturbance on the output. this work solves the task of stabilizing the Furuta pendulum in an upright position. A solution is obtained by applying the two main control systems: integer order, fractional order (different values of order are included in the research). Tuning of the designed control systems is done using genetic algorithm optimization with constraints. the proposed cost is described by a quadratic function based on LQR control design. the comparison of the designed control system is conducted including comparative analysis based on simulations. Overall, the results of simulations reveal that the fractional order controller with the smallest designed order outperforms integer order controller in stabilizing the Furuta pendulum system with the presence of the significant output disturbance.

关键词： Analytical models Costs control design Optimal control Cost function Stability analysis Task analysis

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Multi-Agent Pathfinding for Deadlock Avoidance on Rotational Movements

Multi-Agent Pathfinding for Deadlock Avoidance on Rotational...

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

作者： Frodo Kin Sun Chan Yan Nei Law Bonny Lu Tom Chick Edmond Shiao Bun Lai Ming Ge Hong Kong Industrial Artificial Intelligence and Robotics Centre Hong Kong

ISBN: (纸本)9781665476881

Deadlock is always a challenging problem for multi-agent pathfinding, especially when the system is in high scales in terms of number of agents and map size. Some recent studies showed that the agents can learn to resolve the deadlock problem through reinforcement learning. However, most of them are not designed for non-holonomic robots, which are commonly applied in warehouses. In particular, the rotation movement may cause the agents staying at the same locations for a long time, and the deadlock happens more frequently especially in dense environment. In this paper, an algorithm called MAPF-rot with a deadlock breaking scheme is proposed to tackle the deadlock problem arising from the rotation movement in the multi-agent pathfinding problem. Experiments are performed to demonstrate the efficiency of the proposed algorithm.

关键词： automation Machine vision Reinforcement learning System recovery Task analysis Robots

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High Order Approximation of Generalized Caputo Fractional Derivative and its Application

High Order Approximation of Generalized Caputo Fractional De...

引用

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

作者： Xuhao Li Qinxu Ding Patricia J. Y. Wong School of Mathematical Sciences Anhui University Hefei China School of Business Singapore University of Social Sciences Singapore Singapore School of Electrical and Electronic Engineering Nanyang Technological University Singapore Singapore

ISBN: (纸本)9781665476881

In this paper, we propose a high order approximation for generalized Caputo fractional derivative of order $\alpha\in(0,1)$ . the approximation order is shown to be $O(\tau^{3-\alpha})$ which improves some previous work done to date. We then apply the new approximation to solve a class of generalized time fractional sub-diffusion problem. Some experiments are carried out to demonstrate the accuracy of the proposed methods. the numerical results indicate consistency with the theoretical results and good performance of the methods.

关键词： Interpolation automation Robots

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Spatial Resolution Metric for Optimal Viewpoints Generation in Visual Inspection Planning 14th

Spatial Resolution Metric for Optimal Viewpoints Generation ...

引用

14th international conference on Computer vision Systems (ICVS)

作者： Staderini, Vanessa Glueck, Tobias Mecca, Roberto Schneider, Philipp Kugi, Andreas AIT Austrian Inst Technol GmbH Ctr Vis Automat & Control A-1210 Vienna Austria TU Wien Automat & Control Inst A-1040 Vienna Austria

ISBN: (纸本)9783031441363;9783031441370

the automation of visual quality inspection is becoming increasingly important in manufacturing industries. the objective is to ensure that manufactured products meet specific quality characteristics. Manual inspection by trained personnel is the preferred method in most industries due to the difficulty of identifying defects of various types and sizes. Sensor placement for 3D automatic visual inspection is a growing computer vision and robotics area. Although some methods have been proposed, they struggle to provide high-speed inspection and complete coverage. A fundamental requirement is to inspect the product with a certain specific resolution to detect all defects of a particular size, which is still an open problem. therefore, we propose a novel model-based approach to automatically generate optimal viewpoints guaranteeing maximal coverage of the object's surface at a specific spatial resolution that depends on the requirements of the problem. this is done by ray tracing information from the sensor to the object to be inspected once the sensor model and the 3D mesh of the object are known. In contrast to existing algorithms for optimal viewpoints generation, our approach includes the spatial resolution within the viewpoint planning process. We demonstrate that our approach yields optimal viewpoints that achieve complete coverage and a desired spatial resolution at the same time, while the number of optimal viewpoints is kept small, limiting the time required for inspection.

关键词： Ray tracing Sampling density matrix Set coverage problem Spatial resolution Viewpoint planning Visibility matrix

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Nonlinear Motion control for an Underwater Vehicle in the Vertical Plane with External Disturbances

Nonlinear Motion Control for an Underwater Vehicle in the Ve...

引用

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

作者： Sharmila Kayastha Anthony Fowler Alexander Cameron RMIT University Melbourne VIC Australia Defence Science and Technology Group Fishermans Bend VIC Australia QinetiQ South Melbourne VIC Australia

ISBN: (纸本)9781665476881

this paper presents a comparative study of nonlinear motion control of the BB2 underwater vehicle operating under the influence of external ocean disturbances. Underwater vehicles are affected by ocean disturbances such as waves and currents, which may deteriorate their tracking performance. Hence, it is essential to design a controller such that it can withstand the effect of ocean disturbances. In this paper, three different nonlinear controllers, namely Computed Torque control (CTC), Nonlinear Model Predictive control (NMPC), and Sliding Mode control (SMC), are developed to track the trajectory of the BB2 vehicle both in the absence and in the presence of periodic disturbances. the effectiveness of the proposed control methods is demonstrated by numerical simulations and their performance is compared.

关键词： Motion planning Tracking Oceans Torque control Numerical simulation Trajectory Underwater vehicles

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Vehicle Detecting and Tracking Application Based on YOLOv5 and DeepSort for Bayer Data

Vehicle Detecting and Tracking Application Based on YOLOv5 a...

引用

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

作者： Chuheng Wei Warwick Manufacturing Group University of Warwick Coventry UK

ISBN: (纸本)9781665476881

Recently, with the advancement of vehicle electronics hardware and the rapid development of artificial intelligence technology, intelligent transportation technology has begun to play a very significant role in the development of vehicle technology. Vehicle tracking technology based on deep learning has also received more and more attention, especially since the rapid development of deep neural networks. A significant contribution of this paper is an evaluation of the performance of neural networks in relation to the type of input data, and an exploration of future development possibilities. Based on YOLOv5 and DeepSort, a vehicle detection and tracking algorithm was chosen to test the algorithm's performance on the Bayer data. the results are discussed and analyzed.

关键词： Deep learning automation Vehicle detection Neural networks Transportation Hardware Artificial intelligence

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A Gradient-free Penalty ADMM for Solving Distributed Convex Optimization Problems with Feasible Set Constraints

A Gradient-free Penalty ADMM for Solving Distributed Convex ...

引用

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

作者： Chenyang Liu Xiaohua Dou Songsong Cheng Yuan Fan Anhui Engineering Laboratory of Human-Robot Integration System and Intelligent Equipment School of Electrical Engineering and Automation Anhui University Hefei Anhui China Department of Techniques Jiuquan Satellite Launching Center Lanzhou Gansu China

ISBN: (纸本)9781665476881

In this paper, we propose a gradient-free penalty ADMM to distributedly solve constrained convex optimization problems over network systems. All agents only communicate with their neighbors and local decision variables constrained in feasible set constraints. We design a pseudo-gradient to obtain an approximate gradient. then we update decision variables based on the approximate gradient and penalty ADMM method. Moreover, we analyze the convergent performance of the proposed algorithm and summarize some conclusions.

关键词： automation Linear programming Approximation algorithms Convex functions Robots Network systems Convergence

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