The Rapidly-exploring Random Tree(RRT)is a classical algorithm of motion planning based on incremental sampling,which is widely used to solve the planning problem of mobile *** it,due to the meandering path,the inaccu...
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The Rapidly-exploring Random Tree(RRT)is a classical algorithm of motion planning based on incremental sampling,which is widely used to solve the planning problem of mobile *** it,due to the meandering path,the inaccurate terminal state and the slow exploration,is often inefficient in many applications such as autonomous road *** address these issues and considering the realistic context of autonomous road vehicles,this paper proposes a fast RRT algorithm that introduces an off-line template set based on the traffic scenes and an aggressive extension strategy of search *** improvements can lead to a faster and more accurate RRT towards the ***,our approach combines the closed-loop prediction approach using the model of vehicle,which can smooth the portion of off-line template and the portion of on-line tree generated,while a trajectory and control sequence for the vehicle would be *** results illustrate that our method is fast and efficient in solving planning queries of autonomous road vehicle in urban environments.
We describe a computer vision application to adaptive traffic signal *** traffic signal control systems allocate green time at an intersection dynamically in response to sensed incoming traffic flows to continually op...
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We describe a computer vision application to adaptive traffic signal *** traffic signal control systems allocate green time at an intersection dynamically in response to sensed incoming traffic flows to continually optimize overall *** video-based systems are limited to the use of vehicle presence and volume(count) data,and since it is not possible to distinguish between different types of vehicles,optimization opportunities can be *** propose to detect specific types of vehicles,such as buses,so that they can be assigned higher priority when appropriate and the overall effectiveness of the adaptive signal system can be *** base our system design on current visual recognition technology(HOG SVM) and exploit configuration constraints specific to this application,such as knowledge about the anticipated scale of the *** challenge is to be robust to varying illumination and weather conditions,occlusions from other vehicles,and large variations in scale while producing recognition results in *** show results on challenging data from traffic cameras under different observation conditions and at varying ranges.
One of the major driving forces behind technology development is the establishment of equality among everyone. It is intended that the strategic use of technology complements competencies or diminished capacities, imp...
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ISBN:
(纸本)9781479952007
One of the major driving forces behind technology development is the establishment of equality among everyone. It is intended that the strategic use of technology complements competencies or diminished capacities, improving self confidence and autonomy. Blind and partially sighted people often deal with this inequality in the performance of tasks or daily activities. The presented work reviews some of the proposed technologies to assist visually impaired people in common activities, specifically navigation and going shopping.
This paper considers the problem of eigenstructure assignment for output feedback control. We introduce a new method for partial eigenstructure assignment, which allows to place the eigenelements (λi,v i,wi) simultan...
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ISBN:
(纸本)9789898565709
This paper considers the problem of eigenstructure assignment for output feedback control. We introduce a new method for partial eigenstructure assignment, which allows to place the eigenelements (λi,v i,wi) simultaneously. This is possible by a combination of linear algebra and nonlinear optimization techniques. The advantage of the new approach is illustrated through the control of a launcher in atmospheric flight.
This paper proposes probability iterative closest point(ICP) method based on expectation maximization(EM)estimation for point set registration with *** classical ICP algorithm can deal with rigid registration between ...
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This paper proposes probability iterative closest point(ICP) method based on expectation maximization(EM)estimation for point set registration with *** classical ICP algorithm can deal with rigid registration between two point sets effectively,but always fails to register point sets with *** order to improve the registration precision,a Gaussian model is introduced into the rigid *** each iteration,the classical ICP algorithm includes two steps,building the corresponding relationship and computing the rigid *** to the traditional ICP,at each step,firstly the corresponding relationship is set ***,the rigid transformation is solved by singular value decomposition(SVD) method,and then the Gaussian model is updated by the distance and variance between two point *** experimental results on part B of CE-Shape-1 database and real position dataset validate that the proposed algorithm is more accurate.
A three dimensional localisation algorithm for a swarm of underwater vehicles is presented. The proposed approach is grounded on an extended Kalman filter (EKF) scheme used to fuse some proprioceptive data such as the...
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ISBN:
(纸本)9789898565716
A three dimensional localisation algorithm for a swarm of underwater vehicles is presented. The proposed approach is grounded on an extended Kalman filter (EKF) scheme used to fuse some proprioceptive data such as the vessel's speed and some esteroceptive measurement such as the time of flight (TOF) sonar distance of the companion vessels. The results of several simulations are presented. Some considerations about the available underwater bandwidth and the communication needed by the approach are discussed.
This paper relates to the problem of a path following task for a wheeled mobile platform of (2,0) type. Two kinematic control algorithms, Micaelli-Samson algorithm and Soetanto-Lapierre-Pascoal algorithm, which are ba...
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ISBN:
(纸本)9789898565716
This paper relates to the problem of a path following task for a wheeled mobile platform of (2,0) type. Two kinematic control algorithms, Micaelli-Samson algorithm and Soetanto-Lapierre-Pascoal algorithm, which are based on either the Serret-Frenet frame with an orthogonal projection or the Serret-Frenet frame with a nonorthogonal projection of a robot on the desired path, were presented. The additional condition that should be imposed on the function δ, which is a parameter depending on a linear velocity of the robot and on a distance error, was described. The influence of the function δ on the convergence of the non-singular algorithm has been shown using computer simulations.
Simulation frameworks are wide-spread in the range of robotics to test algorithms and analyze system behavior beforehand - which tremendously reduces effort and time needed for conducting experiments on the real machi...
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ISBN:
(纸本)9789898565716
Simulation frameworks are wide-spread in the range of robotics to test algorithms and analyze system behavior beforehand - which tremendously reduces effort and time needed for conducting experiments on the real machines. This paper addresses a component based framework for simulating a wall-climbing robot that uses negative pressure adhesion in combination with an omnidirectional drive system. Key aspect is the adhesion system which interacts with the environmental features such as surface characteristics (e. g. roughness) or defects. An elaborate thermodynamic model provides the basis for a realistic simulation of the airflow between the virtual environment and the vacuum chambers of the robot. These features facilitate the validation of closed-loop controllers and control algorithms offline and in realtime.
作者：
Sofiane ZemouriSoufiene DjahelJohn MurphyPEL
School of Computer Science and InformaticsUniversity College DublinIreland. Lero
School of Computer Science and InformaticsUniversity College DublinIreland.
In this work,we are interested in periodic beacons transmission,the main cause of the control Channel(CCH)congestion and the major obstacle delaying the progress of safety messages dissemination in *** order to offloa...
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In this work,we are interested in periodic beacons transmission,the main cause of the control Channel(CCH)congestion and the major obstacle delaying the progress of safety messages dissemination in *** order to offload the network,solutions that range from transmit rate to transmit power adaptations including hybrid solutions have been *** some of these solutions have managed to successfully reduce the load on the wireless channel,none,to the best of our knowledge,have considered the impact of the applied adaptation scheme on the overall level of awareness among vehicles and its *** TS released a technical specification stating a limit for the minimum beacons transmit rate in order to maintain a good level of awareness among vehicles and ensure a certain accuracy in VANET *** this paper,we propose to jointly adapt both transmit rate and power in a new smart way that guarantees a strict beaconing frequency as well as a good level of awareness in closer ranges,while maintaining a marginal beacons collision rate and a good level of channel ***,the transmit rate is adapted to meet the channel requirements in terms of collision rate and channel load;then,once the minimum beacon transmit rate,set by ETSI,has been reached,transmit power is adapted in a way that guarantees a good level of awareness for closer *** simulation results show a significant enhancement in terms of the quality as well as the level of awareness.
The study investigates the effectiveness of 2 variations of Particle Swarm Optimization (PSO) called Area Extended PSO (AEPSO) and Cooperative AEPSO (CAEPSO) in simulated robotic environments affected by a combinatori...
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ISBN:
(纸本)9789898565709
The study investigates the effectiveness of 2 variations of Particle Swarm Optimization (PSO) called Area Extended PSO (AEPSO) and Cooperative AEPSO (CAEPSO) in simulated robotic environments affected by a combinatorial noise. Knowledge Transfer, the use of the expertise and knowledge gained from previous experiments, can improve the robots decision making and reduce the number of wrong decisions in such uncertain environments. This study investigates the impact of transfer learning on robots' performance in such hostile environment. The results highlight the feasibility of CAEPSO to be used as the controller and decision maker of a swarm of robots in the simulated uncertain environment when gained expertise from past training is transferred to the robots in the testing phase.
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