This paper studies the distributed bandit convex optimization problem with time-varying inequality constraints, where the goal is to minimize network regret and cumulative constraint violation. To calculate network cu...
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In this paper, we propose a distributed Kalman filter(DKF) for the dynamical system with general random coefficients. In the proposed method, each estimator shares local innovation pairs with its neighbors to collecti...
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In this paper, we propose a distributed Kalman filter(DKF) for the dynamical system with general random coefficients. In the proposed method, each estimator shares local innovation pairs with its neighbors to collectively complete the estimation task. Further, we introduce a collective random observability condition by which the Lp-stability of the covariance matrix and the Lp-exponential stability of the homogeneous part of the estimation error equation can be established. In contrast, the stringent conditions on the coefficient matrices, such as independency and stationarity are not required. Besides, the stability of the DKF, i.e., the boundedness of the filtering errors, can be established. Finally, from the simulation result,we demonstrate the cooperative effect of the sensors.
The paper makes the first steps towards a behavioral theory of LPV state-space representations with an affine dependency on scheduling, by characterizing minimality of such state-space representations. It is shown tha...
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This paper considers the problem of monitoring and adaptively estimating an environmental field, such as temperature or salinity, using an autonomous underwater vehicle (AUV). The AUV moves in the field and persistent...
This paper considers the problem of monitoring and adaptively estimating an environmental field, such as temperature or salinity, using an autonomous underwater vehicle (AUV). The AUV moves in the field and persistently measures environmental scalars and its position in its local coordinate frame. The environmental scalars are approximately linearly distributed over the region of interest, and an adaptive estimator is designed to estimate the gradient. By orthogonal decomposition of the velocity of the AUV, a linear time-varying system is equivalently constructed, and the sufficient conditions on the motion of the AUV are established, under which the global exponential stability of the estimation error system is rigorously proved. Furthermore, an estimate of the exponential convergence rate is given, and a reference trajectory that maximizes the estimate of the convergence rate is obtained for the AUV to track. Numerical examples verify the stability and efficiency of the system.
This work proposes a complete autonomous navigation system for a tracked vehicle. The system enables a complete autonomous execution of waypoint and patrolling tasks selected by the user. It also enables user-vehicle ...
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This work proposes a complete autonomous navigation system for a tracked vehicle. The system enables a complete autonomous execution of waypoint and patrolling tasks selected by the user. It also enables user-vehicle shared autonomy, switching between the user teleoperation and the vehicle autonomous operation. Our navigation system uses the model predictive control scheme based on a navigation function. We propose the navigation function which takes into account changing environments, any-shape footprint, and non-holonomic motion of the tracked vehicle. Besides the waypoint and patrolling tasks, we implemented a fail-safe scenario in case of the user-vehicle communication loss, in which the vehicle returns autonomously to the previously visited goal where the communication was stable. The efficiency of the proposed system is validated by experimental results on the Komodo tracked vehicle.
Semi-supervised semantic segmentation has witnessed remarkable advancements in recent years. However, existing algorithms are based on convolutional neural networks and directly applying them to Vision Transformers po...
The paper investigates a microoptoelectromechanical accelerometer that implements optical measuring transducer built based on the optical tunneling effect. The optical transducer is a directional optical coupler that ...
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ISBN:
(数字)9781665498043
ISBN:
(纸本)9781665498050
The paper investigates a microoptoelectromechanical accelerometer that implements optical measuring transducer built based on the optical tunneling effect. The optical transducer is a directional optical coupler that contains moving and fixed waveguides from Si 3 N 4 with dimensions of 0.3 ×1 μm. The treatise studies the normalized transmission at the directional coupler output depending on the gap and coupling length. Due to the positioning system, the optical measuring transducer can have several operating points with different optical sensitivity. For instance, for a set coupling length of 100 μm, the sensitivity of the directional coupler may reach 6.25 × 10 6 m -1 , 20 × 10 6 m -1 or 41.7 × 10 6 m -1 for initial gaps of 255, 120 and 70 nm, correspondingly. The comb-drive actuator has three independent stages with 600, 50 and 4 fingers. It allows setting a necessary gap (from 0 to 2.8 μm) between the waveguides. It also imitates microaccelerations (from 16 micro-g to 3 g) by using electrostatic forces. The study proposes a method for selecting parameters of the positioning system (electrode voltage, number of fingers, spring suspension stiffness and inertial mass).
Crowdsourcing testing leverages extensive user participation to identify and fix potential issues in industrial control software, ensuring its security and reliability. Decentralized applications (DApps) can utilize b...
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Accurate prediction of agent motion trajectories is crucial for autonomous driving, contributing to the reduction of collision risks in human-vehicle interactions and ensuring ample response time for other traffic par...
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The metaverse is defined as a three-dimensional virtual-real fusion network focused on social connection. Edge computing can empower the metaverse by providing computing resources to realize real-time motion tracking,...
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