In this paper we extend our previous research on coherent observer-based pole placement approach to study the synthesis of robust decoherence-free (DF) modes for linear quantum passive systems, which is aimed at prese...
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This paper investigates the impact of path tracking error definitions on vehicle lateral control behavior. Several existing error definitions are reviewed, highlighting the need for a assessment of their impacts. To t...
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ISBN:
(纸本)9798350399462
This paper investigates the impact of path tracking error definitions on vehicle lateral control behavior. Several existing error definitions are reviewed, highlighting the need for a assessment of their impacts. To this aim, new formulations of the vehicle lateral model in terms of tracking errors are proposed. These formulations consider the use of the center-of-gravity (COG) as well as the look-ahead distance (LAD) for lateral and/or orientation errors. Furthermore, four formulations are developed and a generic state space representation is derived. This generic model enables comparative analysis within an unified framework. Four robust state-feedback and feed-forward controllers are designed based on these formulations. Simulations are conducted to evaluate the controllers tracking performances. The results provide insights into the effects of different tracking error definitions on lateral control guidance.
Ride-hailing services are emerging as a mode of transportation, necessitating modeling and control methods for efficient management. In this paper, we propose a hierarchical control framework for the optimal positioni...
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ISBN:
(纸本)9798350399462
Ride-hailing services are emerging as a mode of transportation, necessitating modeling and control methods for efficient management. In this paper, we propose a hierarchical control framework for the optimal positioning of idle vehicles for maximizing service level. An economic model predictive controller at the upper layer repositions idle vehicles between urban regions towards balancing interregional responsiveness, while a coverage controller at the lower layer distributes idle vehicles over space towards balancing intraregional responsiveness. Studies on detailed simulations of an urban road network suggest the potential of the method for improving performance.
In this paper, we propose a radar odometry structure that directly utilizes radar velocity measurements for dead reckoning while maintaining its ability to update estimations within the Kalman filter framework. Specif...
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ISBN:
(纸本)9798350377712;9798350377705
In this paper, we propose a radar odometry structure that directly utilizes radar velocity measurements for dead reckoning while maintaining its ability to update estimations within the Kalman filter framework. Specifically, we employ the Doppler velocity obtained by a 4D Frequency Modulated Continuous Wave (FMCW) radar in conjunction with gyroscope data to calculate poses. This approach helps mitigate high drift resulting from accelerometer biases and double integration. Instead, tilt angles measured by gravitational force are utilized alongside relative distance measurements from radar scan matching for the filter's measurement update. Additionally, to further enhance the system's accuracy, we estimate and compensate for the radar velocity scale factor. The performance of the proposed method is verified through five real-world open-source datasets. The results demonstrate that our approach reduces position error by 62% and rotation error by 66% on average compared to the state-of-the-art radar-inertial fusion method in terms of absolute trajectory error.
Cloud computing is the practice of offering services like servers, storage, analytics, and databases to networks or computer systems worldwide. With enhanced technical infrastructure, Internet users can now use comput...
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Managing parking efficiently has become a critical challenge in today's densely populated urban areas, such as Tirana, Albania, where increasing vehicle congestion exacerbates traffic and environmental concerns. V...
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This paper introduces a modular IoT-based framework for the monitoring and control of critical infrastructure, addressing challenges such as system resilience, adaptability, and low-energy operation. The proposed modu...
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In this study, the technology of active reconfigurable intelligent surface (RIS) is employed to devise a secure communication strategy suitable for a dual unmanned aerial vehicle (UAV) environment. Under this strategy...
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ISBN:
(纸本)9798350379860;9798350379877
In this study, the technology of active reconfigurable intelligent surface (RIS) is employed to devise a secure communication strategy suitable for a dual unmanned aerial vehicle (UAV) environment. Under this strategy, one UAV is tasked with conveying information to the user, while the other UAV is responsible for transmitting interference signals to disrupt the eavesdropper, ensuring the security of communication between the UAV and the legitimate receiver. The problem is classified as a non-convex optimization issue, and through collaborative optimization of the UAV's transmission power, interference power, flight path, and the coefficient matrix of RIS, the optimal average secrecy rate of the strategy can be derived. In addition, the introduction of successive convex approximation and semidefinite relaxation simplify the objective function into a more manageable form. Meanwhile, a penalty-based method is used to solve the rank-one problem. Simulation results demonstrate that the Active RIS technology can significantly enhance the performance of the dual UAV secure communication system.
The amalgamation of Cloud computing and Internet-of-Things (IoT), i.e., Cloud-of-Things (CoT), has emerged as one of the indispensable technologies in the IT and business world. The success of CoT depends on the effic...
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The presented work falls in the field of modelling the presence of multiple clusters of connected autonomous vehicles (CAVs), i.e., groups of CAVs in traffic flow that, if properly controlled, can positively influence...
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ISBN:
(纸本)9798350399462
The presented work falls in the field of modelling the presence of multiple clusters of connected autonomous vehicles (CAVs), i.e., groups of CAVs in traffic flow that, if properly controlled, can positively influence traffic behavior by acting as actuators of specific control strategies. An extended version of the well-known Cell Transmission Model (CTM) is used as a traffic model, where the cells of a highway stretch are divided into two types: cells with clusters of CAVs and cells without. The classical CTM is used to model the second type of cells, while for the first type we model the presence of a cluster as a moving bottleneck that divides the cell into different parts. The proposed control-oriented traffic model has been tested on a case study based on real traffic data.
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