In this paper, we present a sonar-based navigation system, designed to deploy a fleet of autonomous mobile platforms at a reasonable cost. In educational and hobbyist contexts, a large number of robots is required. By...
In this paper, we present a sonar-based navigation system, designed to deploy a fleet of autonomous mobile platforms at a reasonable cost. In educational and hobbyist contexts, a large number of robots is required. By means of classical navigation approaches, every robot should be provided with accurate vision or range sensors. This limits the maximum number of robots in the fleet, due to the unaffordable cost of these sensors. In contrast to that, our system requires a single platform equipped with a higher quality sensor, used to perform calibration and mapping tasks. The rest of the fleet, able to localize and navigate, is equipped solely with low-cost sonars, providing a notable reduction in the overall cost. We achieve this task by presenting a novel calibration procedure to estimate the sonars extrinsic and adapting a classical monte-carlo localization algorithm to the sonar model, focusing on efficiency. We release an open source implementation of the system to the community.
This review explores the advancements in MXene-based nanomaterials as flame-retardant additives for polymers and composites, driven by increasing fire safety demands across industries. It highlights the critical role ...
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Kernel-based nonparametric models have become very attractive for model-based control approaches for nonlinear systems. However, the selection of the kernel and its hyperparameters strongly influences the quality of t...
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ISBN:
(数字)9781728113982
ISBN:
(纸本)9781728113999
Kernel-based nonparametric models have become very attractive for model-based control approaches for nonlinear systems. However, the selection of the kernel and its hyperparameters strongly influences the quality of the learned model. Classically, these hyperparameters are optimized to minimize the prediction error of the model but this process totally neglects its later usage in the control loop. In this work, we present a framework to optimize the kernel and hyperparameters of a kernel-based model directly with respect to the closed-loop performance of the model. Our framework uses Bayesian optimization to iteratively refine the kernel-based model using the observed performance on the actual system until a desired performance is achieved. We demonstrate the proposed approach in a simulation and on a 3-DoF robotic arm.
Environmental microorganisms (EMs) are ubiquitous around us and have an important impact on the survival and development of human society. However, the high standards and strict requirements for the preparation of env...
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Exploring contextual information in convolutional neural networks (CNNs) has gained substantial attention in recent years for semantic segmentation. This paper introduces a Bi-directional Contextual Aggregating Networ...
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This paper considers balanced truncation of discrete-time Hankel k-positive systems, characterized by Hankel matrices whose minors up to order k are nonnegative. Our main result shows that if the truncated system has ...
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The problem of the rapid creation of effective web applications of one class using formal means is considered. A conceptual approach to its solution is offered based on an analysis of the peculiarities of the construc...
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ISBN:
(纸本)9781728140704
The problem of the rapid creation of effective web applications of one class using formal means is considered. A conceptual approach to its solution is offered based on an analysis of the peculiarities of the construction of web applications. Our approach is based on defining the standard web application architecture and selecting its components using formal methods in accordance with user requirements. A formal logical system is proposed that uses the design of web applications as a process of outputting a formula specified according to the needs of the user, which defines the schemes of execution of the modules of the system. An important feature of this approach is the ability to visualise the process of designing the system in 3D, which creates the conditions for effective interaction between developers and machine development tools.
The study of multiplicative noise models has a long history in control theory but is re-emerging in the context of complex networked systems and systems with learning-based control. We consider linear system identific...
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In this paper, we investigate the distributed link removal strategy for networked meta-population epidemics. In particular, a deterministic networked susceptible-infected-recovered (SIR) model is considered to describ...
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Wind speed’s distribution nature such as uncertainty and randomness imposes a challenge in high accuracy forecasting. Based on the energy distribution about the extracted amplitude and associated frequency, the uncer...
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