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Cooperative Graph Search Using Fractal Decomposition

Cooperative Graph Search Using Fractal Decomposition

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American control Conference (ACC)

作者： James R. Riehl Joao P. Hespanha Center for Control Dynamical Systems and Computation Electrical and Computer Engineering Department University of California Santa Barbara CA USA

We present an algorithm based on hierarchical decomposition that finds close-to-optimal search paths for a cooperative team of agents searching for one or more targets on a graph. The method partitions the graph to create a high-level problem and several lower-level problems. Since the computations on each level are identical, the lower-level problems can be further decomposed. In this way, the problem becomes fractal in nature. We use best-case and worst-case instances of the decomposed problem to establish upper and lower bounds on the optimal search reward, and the bounds are determined with much less computation than what is required to solve the full problem. We show that as the number of decomposition levels increases, the computational complexity approaches O(n) at the expense of looser bounds on the optimal reward. A large-scale test case shows that this method is computationally fast, produces good results, and achieves true cooperation between agents.

关键词： Fractals Search problems Partitioning algorithms computational complexity Distributed computing Military computing Cities and towns Large-scale systems Testing Autonomous agents

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Decoy state protocols for quantum cryptography with parametric down conversion sources

Decoy state protocols for quantum cryptography with parametr...

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The European Conference on Lasers and Electro-Optics, CLEO_Europe 2007

作者： Ma, Xiongfeng Fred Fung, Chi-Hang Lo, Hoi-Kwong Center for Quantum Information and Quantum Control Department of Electrical and Computer Engineering and Department of Physics University of Toronto Toronto ON M5S 1A7 Canada

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Finite Energy Management and Flight control for a System of Airships Systems

Finite Energy Management and Flight Control for a System of ...

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2007 IEEE International Conference on System of Systems engineering (SOSE 2007), vol.2

作者： Michael Frye Chunjiang Qian Control Computation and Cybernetics Laboratory Department of Electrical and Computer Engineering University of Technology San Antonio TX USA

This paper examines the problem of controlling a system of airships that are operating as a temporary mobile cell phone network. The primary requirements are maintaining a formation that is subjected to environmental gust disturbances while holding either a fixed position or attempting to hold a reference velocity. The purpose of having both position and velocity hold modes is to have the performance of an aerostat while maintaining the ability to relocate as required by cell phone load usage. This paper examines the use of a predictive real-time control technique which solves an optimal control problem that takes into account minimum control energy, desired velocity, formation constraints, and control constraints. The control problem is reformulated as a linear programming problem for rapid convergence to a solution. This paper will illustrate the optimal control technique using a simulation on two airships.

关键词： Optimal control Flight control Airship Dynamics Formation control

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Hybrid Dynamical Systems: Robust Stability and control

Hybrid Dynamical Systems: Robust Stability and Control

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Chinese control Conference (CCC)

作者： Cai Chaohong Goebel Rafal G. Sanfelice Ricardo R. Teel Andrew Department of Electrical and Computer Engineering University of California Santa Barbara CA USA Center for Control Dynamical Systems and Computation Department of Electrical and Computer Engineering University of California Seattle WA USA Seattle WA USA Center for Control Dynamical Systems and Computation Department of Electrical and Computer Engineering University of California Santa Barbara CA 93106-9560 USA. E-mail: rsanfelice@ece.ucsb.edu Center for Control Dynamical Systems and Computation Department of Electrical and Computer Engineering University of California Santa Barbara CA 93106-9560 USA. E-mail: teel@ece.ucsb.edu

Modeling issues for hybrid dynamical systems are discussed and fundamental stability analysis tools are summarized. These tools are useful for the development of hybrid control algorithms.

关键词： Robust stability control systems Oscillators Evolution (biology) State-space methods Equations Chaos Stability analysis Systems engineering and theory Biological system modeling

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Relaxed characterizations of smooth patchy control Lyapunov functions

Relaxed characterizations of smooth patchy control Lyapunov ...

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作者： Goebel, Rafal Prieur, Christophe Teel, Andrew R. Department of Mathematics University of Washington Seattle WA 98195-4350 United States LAAS-CNRS 7 Avenue du Colonel Roche 31077 Toulouse Cedex 4 France Center for Control Dynamical Systems and Computation Department of Electrical and Computer Engineering University of California Santa Barbara CA 93106-9560 United States

ISBN: (纸本)9783902661289

A smooth patchy control Lyapunov function for a nonlinear control system consists of an ordered family of smooth local control Lyapunov functions, whose open domains form a locally finite cover of the state space of the system, and which satisfy a certain arrangement property. In contrast to (Goebel et al., IEEE CDC, 2006), on each intersection of the domains, we do not impose a decrease condition of the local control Lyapunov functions when the index increases. We show a construction, based on such a patchy control Lyapunov function, of a stabilizing hybrid feedback that is robust to measurement noise. Copyright © 2007 IFAC.

关键词： Hybrid systems

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EEG Effects of Motion Sickness Induced in a Dynamic Virtual Reality Environment

EEG Effects of Motion Sickness Induced in a Dynamic Virtual ...

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29th Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBS 2007), vol.10

作者： Chin-Teng Lin Shang-Wen Chuang Yu-Chieh Chen Li-Wei Ko Sheng-Fu Liang Tzyy-Ping Jung Department of Electrical and Control Engineering the Department of Computer Science Brain Research Center Hsinchu Taiwan The Department of Computer Science Brain Research Center Hsinchu Taiwan Department of Electrical and Control Engineering Brain Research Center Hsinchu Taiwan Department of Computer Science and Information Engineering National Cheng Kung University Tainan Taiwan Institute for Neural Computation University of California San Diego CA USA

The Electroencephalogram (EEG) dynamics which relate to motion sickness are studied in this paper. Instead of providing visual or motion stimuli to the subjects to induce motion sickness, we employed a dynamic virtual-reality (VR) environment in our research. The environment consisted of a 3D surrounding VR scene and a motion platform providing a realistic situation. This environment provided the advantages of safety, low cost, and the realistic stimuli to induce motion sickness. The Motion Sickness Questionnaire (MSQ) was used to assess the sickness level, and the EEG effects on the subjects with high sickness levels were investigated using the independent component analysis (ICA). The fake-epoch extraction was then applied to the nausea-related independent components. Finally we employed the Event-Related Spectral Perturbation (ERSP) technology on the fake-epochs in order to determine the EEG dynamics during motion sickness. The experimental results show that most subjects experienced an 8-10Hz power increase to their motion sickness-related phenomena in the parietal and motor areas. Moreover, some subjects experienced an EEG power increase of 18-20Hz in their synchronized responses recorded in the same areas. The motion sickness-related effects and regions can be successfully obtained from our experimental results.

关键词： Electroencephalography Virtual reality Layout Vehicle dynamics computer science Safety Motion analysis Independent component analysis control engineering Costs

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H∞ filtering for a class of 2D systems

H∞ filtering for a class of 2D systems

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15th European Signal Processing Conference, EUSIPCO 2007

作者： Wu, Ligang Lam, James Paszke, Wojciech Galkowski, Krzysztof Rogers, Eric Kummert, Anton Space Control and Inertial Technology Research Center Harbin Institute of Technology Harbin 150001 China Department of Mechanical Engineering University of Hong Kong Pokfulam Road Hong Kong Hong Kong Institute of Control and Computation Engineering University of Zielona Góra 65-246 Zielona Góra Poland Department of Electronics and Computer Science University of Southampton Southampton SO17 1BJ United Kingdom University of Wuppertal Faculty of Electrical Information and Media Engineering Communication Theory Germany

ISBN: (纸本)9788392134022

The unique characteristic of a repetitive process is a series of sweeps or passes through a set of dynamics defined over a finite duration known as the pass length. At the end of each pass, the process is reset and the next time through the output, or pass profile, produced on the previous pass acts as a forcing function on, an hence contributes to, the dynamics of the new pass profile. They are hence a class of systems with information propagation in two independent directions where here the dynamics over the finite pass length are described by a matrix linear differential equation and that from pass to pass has a discrete updating structure. This means that filtering/estimation theory/algorithms for, in particular, 2D discrete linear systems is not applicable. In this paper we solve a general filtering problem with a view toward use in the many applications where such action will be required. © 2007 EURASIP.

关键词： Dynamics

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A Hybrid control Strategy for Robust Contact Detection and Force Regulation

A Hybrid Control Strategy for Robust Contact Detection and F...

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American control Conference (ACC)

作者： Raffaella Carloni Ricardo G. Sanfelice Andrew R. Teel Claudio Melchiorri Center for Research on Complex Automated Systems (CASY) Department of Electronics Computer Science and Systems (DEIS) University of Bologna Bologna Italy Center for Control Engineering and Computation Electrical and Computer Engineering Department University of California Santa Barbara CA USA

We present an innovative hybrid control strategy for contact detection and force regulation of robotic manipulators. This hybrid architecture controls the robotic manipulator during the following stages of interaction with the work environment: the free motion, the transition phase, and the constrained motion. The proposed control strategy is to switch between a position and a force controller with hysteresis relying only on contact force measurements. We implement this strategy in a hybrid controller and provide a design procedure which depends on the viscoelastic parameters of the work environment. Our controller guarantees contact detection and force regulation without bounce-off effects between the robotic manipulator and the work environment from compact sets of initial conditions. Additionally, the resulting closed-loop system is robust to measurement noise. We include simulations that show how the proposed hybrid control strategy guarantees good performance in the cases of stiff and compliant work environments, and in the presence of measurement noise.

关键词： Force control Robust control Contacts Robots Manipulators Switches Force measurement Noise measurement Working environment noise Motion control

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Complex Hybrid Systems: Stability Analysis for Omega Limit Sets

Complex Hybrid Systems: Stability Analysis for Omega Limit S...

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第二十六届中国控制会议

作者： Goebel Rafal Sanfelice Ricardo G. Teel Andrew R. 3518 NE 42 St. SeattleWA 98105USA Center for Control Dynamical Systemsand ComputationDepartment of Electrical and Computer Engineering University of California

This paper focuses on the asymptotic stability properties of omega limit sets for complex hybrid dynamical systems,which are commonly found in systems and *** spells out specific stability results that follow when a hybrid dynamical system has certain structure,e.g.,when it admits a decomposition resembling a cascade of hybrid dynamical systems.

关键词： Hybrid systems Asymptotic stability Omega limit sets

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Basic Movements of a Nonholonomic Wheel-Based Pole Climbing Robot

Basic Movements of a Nonholonomic Wheel-Based Pole Climbing ...

引用

2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Pages 805-1210

作者： Sara Mahdavi Ehsan Noohi Majid Nili Ahmadabadi Control and Intelligent Processing Center of Excellence Department of Electrical and Computer Engineering University of Tehran

ISBN: (纸本)9781424412631;1424412633

Three basic movements for path planning of a nonholonomic wheel-based pole climbing robot, UT-PCR, are proposed. In order to simplify the system equations, the state equations are first derived in the velocity space in which the nonholonomic constraint is easily shown. Subsequently, according to the derived equations, three basic movements are defined and a suitable control method is proposed. Finally, the proposed movements and the control method are tested via simulations.

关键词： Climbing Robot Nonholonomic Systems Basic Movements

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