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作者： Šelek, Ana Seder, Marija Petrović, Ivan Department of Control and Computer Engineering Faculty of Electrical Engineering and Computing University of Zagreb Croatia

Inspired by the Spanning Tree Covering (STC) algorithm of Gabriely and Rimon, a novel algorithm of complete coverage for known environments is developed. Unlike the original STC algorithm, we detect dynamic elements of the environment and efficiently update the solution when changes are observed. The contribution is a path replanning algorithm that reduces overlapping when the part of the environment is changed. Experiments show that the proposed algorithm is capable of planning complete coverage robot paths with 70.27% coverage and without overlapping. © 2018

关键词： Mobile robots

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control law design for flexible aircraft: Comparison of the H ∞-based and classical methods

Control law design for flexible aircraft: Comparison of the ...

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AIAA Guidance, Navigation, and control Conference 2005

作者： Goman, M. Sidoryuk, M. Ustinov, A. Faculty of Computing Sciences and Engineering AIAA TsAGI Flight Dynamics and Control Department

ISBN: (纸本)1563477378

The H∞-based and classical engineering approaches to flight control law design are compared regarding a similarity between the derived controllers structure. The integrated flight and aeroelastic control laws have been designed using the H∞ synthesis. The engineering control laws for the same aeroservoelactic aircraft model and flight conditions have been designed using a conventional control law structure with the rigid body mode feedbacks and the notch and lag filters for the structural dynamics modes. For comparison purposes the H∞-based control laws have been modified using the order reduction techniques and simplifications separately in each control law channel. A special attention has been given for comparison of the control laws designed for the rigid body approximation of an aircraft model. The μ, analysis method have been used to compare the closed-loop system robustness to flight regime variation, modelling errors and uncertainties of frequencies and damping in structural modes. The gain/phase margins and the complexity of gain scheduling have been also compared. Copyright © 2005 by British Crown.

关键词： Aircraft

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Modified Banker's algorithm for scheduling in multi-AGV systems

Modified Banker's algorithm for scheduling in multi-AGV syst...

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2011 7th IEEE International Conference on Automation Science and engineering, CASE 2011

作者： Kalinovcic, Luka Petrovic, Tamara Bogdan, Stjepan Bobanac, Vedran Department of Control and Computer Engineering Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

ISBN: (纸本)9781457717307

In today's highly complex multi-AGV systems key research objective is finding a scheduling and routing policy that avoids deadlock while assuring that vehicle utilization is as high as possible. It is well known that finding such an optimal policy is a NP-hard task in general case. Therefore, big part of the research is oriented towards finding various suboptimal policies that can be applied to real world plants. In this paper we propose modified Banker's algorithm for scheduling in multi-AGV systems. A predetermined mission's path is executed in a way that some non-safe states are allowed in order to achieve better utilization of vehicles. A graph-based method of polynomial complexity for verification of these states is given. Algorithm is tested on a layout of a real plant for packing and warehousing palettes. Results shown at the end of the paper demonstrate advantages of the proposed method compared with other methods based on Banker's algorithm. © 2011 IEEE.

关键词： Scheduling algorithms

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Security in distributed wireless sensor networks

Security in distributed wireless sensor networks

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35th International Convention on Information and Communication Technology, Electronics and Microelectronics, MIPRO 2012

作者： Petrović, Tin Žagar, Mario University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Zagreb Croatia

ISBN: (纸本)9789532330724

Distributed computer systems of microcontrollers with environmental sensors, known as wireless sensor networks, allow real time monitoring of complex events. Over the last ten years this technology is slowly being applied in many areas such as: agriculture, environmental monitoring and urban planning. However, the technology has yet to see a strong commercial application because of a: lack of universal norms, short lifetime cycle and security concerns. This paper will describe the basic characteristics of a wireless sensor network, followed by a list of different types of security problems that wireless sensor networks face. For each problem, a recommended method for improving security is given, along with all the downsides of such a method. After reviewing the current state of the technology we will propose a new method to improve security and intruder detection for certain types of networks. © 2012 MIPRO.

关键词： Wireless sensor networks

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Autonomous exploration of large unknown indoor environments for dense 3D model building 19

Autonomous exploration of large unknown indoor environments ...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Maurović, Ivan Dakulović, Marija Petrović, Ivan University of Zagreb Croatia Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Croatia

ISBN: (纸本)9783902823625

Autonomous exploration and mapping of indoor environments is important task for building inspections. Mapping of large environments in 3D requires high memory and computational consumptions. In this paper, we present a 3D exploration strategy for a mobile robot equipped with a 3D laser scanner. Our strategy does not require a map of the environment and ensures on-line exploration of large unknown spaces. We propose a room detection algorithm and focus on the room-by-room exploration keeping the memory and computational requirements low. We evaluated our strategy by simulations and experimentally using a real mobile robot. © IFAC.

关键词： Navigation

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Kinematic simulative analysis of virtual potential field method for AUV trajectory planning

Kinematic simulative analysis of virtual potential field met...

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2007 Mediterranean Conference on control and Automation, MED

作者： Barisic, M. Vukic, Z. Miskovic, N. University of Zagreb Faculty of Electrical Engineering and Computing Department of Computer and Control Engineering Zagreb Croatia

ISBN: (纸本)142441282X

This paper deals with an analysis of applicability, capabilities, benefits and pitfalls of using a virtual potential field approach to autonomously planning trajectories in non-communicating autonomous underwater vehicles (AUV-s). Virtual potentials represent an approach to this problem with cross-layer design features. Examples of different layers of control that can be achieved with the same fundamental approach are: obstacle-avoidance, energy-optimal trajectories, forming up with other moving agents, controlled formation fragmentation into well-posed sub-formation etc. This paper shows, on the basis of extensive simulated experiments, that such a trajectory planner based on virtual potentials, guarantees good extendibility, scalability and performance in a hard-real-time hardware-in-the-loop system. ©2007 IEEE.

关键词： Trajectories

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DPNet: Dynamic Pooling Network for Accurate and Efficient Size-Aware Tiny Object Detection

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IEEE Internet of Things Journal 2025年

作者： Gong, Luqi Chen, Haotian Chen, Yikun Yao, Tianliang Li, Chao Zhao, Shuai Han, Guangjie Beijing University of Posts and Telecommunications School of Computer Science Beijing China Zhejiang Lab Research Center for Space Computing System Hangzhou China Southwest Jiaotong University SWJTU-LEEDS Joint School Chengdu China LTD Guangdong Zhiyun City construction Technology Co Zhuhai China Tongji University College of Electronic and Information Engineering Department of Control Science and Engineering Shanghai China Hohai University Key Laboratory of Maritime Intelligent Network Information Technology Ministry of Education China

In unmanned aerial systems, especially in complex environments, accurately detecting tiny objects is crucial. Resizing images is a common strategy to improve detection accuracy, particularly for small objects. However, simply enlarging images significantly increases computational costs and the number of negative samples, severely degrading detection performance and limiting its applicability. This paper proposes a Dynamic Pooling Network (DPNet) for tiny object detection to mitigate these issues. DPNet employs a flexible down-sampling strategy by introducing a factor (df) to relax the fixed down-sampling process of the feature map to an adjustable one. Furthermore, we design a lightweight predictor to predict df for each input image, which will be used to decrease the resolution of feature map in backbone. Thus, we achieve input-aware down-sampling. We design an Adaptive Normalization Module (ANM) to make a unified detector well compatible with different dfs. At the same time, we also design a guidance loss to supervise the predictor’s training. DPNet realizes the dynamic allocation of computing resources to trade off detection accuracy and efficiency through this. Experiments on the TinyCOCO and TinyPerson datasets show that our DPNet can save over 35% and 25% GFLOPs, respectively, while maintaining comparable detection *** code will be made publicly available. © 2014 IEEE.

关键词： Object detection

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Experimental comparison of AdaBoost algorithms applied on leg detection with different range sensor setups

Experimental comparison of AdaBoost algorithms applied on le...

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19th International Workshop on Robotics in Alpe-Adria-Danube Region, RAAD 2010

作者： Jurić-Kavelj, Srećko Petrović, Ivan Department of Control and Computer Engineering University of Zagreb Faculty of Electrical Engineering and Computing Zagreb Croatia

ISBN: (纸本)9781424468867

When tracking people or other moving objects with a mobile robot, detection is the first and most critical step. At first most researchers focused on the tracking algorithms, but recently AdaBoost (supervised machine learning technique) was used for people legs detection in 2D range data. The results are promising, but it is unclear if the obtained classifier could be used on the data from another sensor. As it would be a huge inconvenience having to train a classifier for every sensor (setup), we set out to find if, and when is a classifier trained on one sensor setup transferable to another sensor setup. We tested two sensors in five different setups. In total, we acquired 2455 range scans. Experiments showed that the classifier trained on noisier sensor data performed better at classification of data coming from other sensor setups. Classifiers trained on less noisy data were shown to be overconfident, and performed poorly on noisy data. Furthermore, experiments showed that classifiers learned on ten times smaller datasets performed as good as classifiers trained on larger datasets. Since AdaBoost is a supervised learning technique, obtaining same classifier efficiency with significantly smaller dataset means less hand labeling of the data for the same results. © 2010 IEEE.

关键词： Adaptive boosting

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Automatic bioindicator images evaluation

Automatic bioindicator images evaluation

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14th International Conference on Intelligent engineering Systems, INES 2010

作者： Slavíková, P. Mudrová, M. Procházka, A. Department of Computing and Control Engineering Institute of Chemical Technology Prague Czech Republic

ISBN: (纸本)9781424476527

Presented paper deals with processing of electron-microscope images of Picea Abies stomas. A stoma character strongly depends on the level of air pollution in the area where the tree grows - as the stoma epidermis covers with epiticular waxes to protect itself against the negative environmental influences. According to the level of incrustation it is possible to distinguish five classes of stoma structure. An automatic algorithm recognizing a degree of stoma damage, based on the microscopic image processing can be useful during the process of environmental assessment. This work is devoted to a solution of the problem of stoma evaluation by means of texture classification. There are two principles discussed in the paper: The first principle is based on gradient methods while the second one uses a wavelet transform. Possibilities of application of mentioned attitudes were investigated and the classification criteria distinguishing the stoma character were suggested, as well. The resulting algorithm was verified on a library of four hundred real images and achieved results were compared with an expert's sensual classification. Selected methods of image preprocessing as noise reduction, brightness correction and resampling were used as well. © 2010 IEEE.

关键词： Gradient methods

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Transfer function identification by using self-oscillations

Transfer function identification by using self-oscillations

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2007 Mediterranean Conference on control and Automation, MED

作者： Miškovic, N. Vukic, Z. Barišic, M. University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Zagreb Croatia

ISBN: (纸本)142441282X

The work presented in this paper deals with the process of transfer function identification by using self-oscillation method (autotuning identification method). The algorithm is given in a general matrix form and some modifications are introduced. The modifications of the algorithm include augmentation of the initial algorithm for Type k systems, systems with delays and discrete-time systems. The paper also includes simulation examples which describe the introduced modifications. Apart from being rather simple, this method is applicable to real systems. Its greatest advantage is quick identification of a transfer function (depends on the system). ©2007 IEEE.

关键词： Transfer functions

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