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CPL-SLAM: Centralized Collaborative Multirobot Visual-Inertial SLAM Using Point-and-Line Features

IEEE Internet of Things Journal 2025年第12期12卷 21866-21875页

作者： Liu, Xin Wen, Shuhuan Liu, Huaping Richard Yu, F. Yanshan University Engineering Research Center of the Ministry of Education for Intelligent Control System and Intelligent Equipment Key Laboratory of Intelligent Rehabilitation and Neuroregulation in Hebei Province Department of Key Laboratory of Industrial Computer Control Engineering of Hebei Province Qinhuangdao066004 China Tsinghua University Department of Computer Science and Technology Beijing100084 China Shenzhen University College of Computer Science and Software Engineering Shenzhen518060 China Carleton University School of Information Technology Department of Systems and Computer Engineering OttawaONK1S 5B6 Canada

Traditional visual-inertial Simultaneous Localization and Mapping (SLAM) systems predominantly rely on feature point matching from a single robot to realize the robot pose estimation and environment map construction. However, in complex scenarios, these traditional systems struggle with issues, such as tracking failures due to illumination changes, rapid movements, and low-texture environments, and they perform poorly in terms of mapping efficiency and global consistency. To address these challenges, we propose a centralized collaborative SLAM system that employs both point and line features for tracking in the robot and map fusion in the cloud. The proposed system leverages the fusion of point and line features across all instances in the process, which allows our method to achieve higher localization accuracy in structured, low-texture scenes. With the aid of classifying gravity-aligned vertical lines and spatial parallel lines, the proposed system can deliver faster and more accurate odometry in complex scenes. Furthermore, we developed intrarobot and interrobot loop closure detection methods based on point and line features, generating a globally consistent sparse point cloud and structured scene map in the cloud. Our method is able to build richer maps while improving accuracy compared to existing methods. Experimental results on public datasets and in real-world environments show that, compared to existing advanced methods, our approach demonstrates better performance. © 2014 IEEE.

关键词： SLAM robotics

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Intelligent obstacle avoidance algorithm for safe urban monitoring with autonomous mobile drones

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Journal of Electronic Science and Technology 2024年第4期22卷 19-36页

作者： Didar Yedilkhan Abzal E.Kyzyrkanov Zarina A.Kutpanova Shadi Aljawarneh Sabyrzhan K.Atanov Department of Computer Engineering Astana IT UniversityAstana010000Kazakhstan Department of Computer and Software Engineering L.N.Gumilyov Eurasian National UniversityAstana010000Kazakhstan Department of Automation and Control Systems L.N.Gumilyov Eurasian National UniversityAstana010000Kazakhstan Department of Software Engineering Jordan University of Science and TechnologyIrbid22110Jordan

The growing field of urban monitoring has increasingly recognized the potential of utilizing autonomous technologies,particularly in drone *** deployment of intelligent drone swarms offers promising solutions for enhancing the efficiency and scope of urban condition *** this context,this paper introduces an innovative algorithm designed to navigate a swarm of drones through urban landscapes for monitoring *** primary challenge addressed by the algorithm is coordinating drone movements from one location to another while circumventing obstacles,such as *** algorithm incorporates three key components to optimize the obstacle detection,navigation,and energy efficiency within a drone ***,the algorithm utilizes a method to calculate the position of a virtual leader,acting as a navigational beacon to influence the overall direction of the ***,the algorithm identifies observers within the swarm based on the current *** further refine obstacle avoidance,the third component involves the calculation of angular velocity using fuzzy *** approach considers the proximity of detected obstacles through operational rangefinders and the target’s location,allowing for a nuanced and adaptable computation of angular *** integration of fuzzy logic enables the drone swarm to adapt to diverse urban conditions dynamically,ensuring practical obstacle *** proposed algorithm demonstrates enhanced performance in the obstacle detection and navigation accuracy through comprehensive *** results suggest that the intelligent obstacle avoidance algorithm holds promise for the safe and efficient deployment of autonomous mobile drones in urban monitoring applications.

关键词： Drone swarms Fuzzy logic Intelligent solution Smart city Urban monitoring

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Design an optimal FOPD controller for electric vehicle speed tracking control 7

Design an optimal FOPD controller for electric vehicle speed...

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7th International Conference on Vocational Education and Electrical engineering, ICVEE 2024

作者： Abood, Layla Hattim Abood, May H. Action, Dalal Hammood University of Technology Department of Control and Systems Engineering Baghdad Iraq Al-Iraqia University Department of Computer Engineering Baghdad Iraq Mtu Edu Department of Computer Engineering Baghdad Iraq

ISBN: (纸本)9798331505103

Electric Vehicles (EVs) become very important issue and gained attention due to many reasons like its economic price, saving environment and more reliable. In this study, controlling speed for EV is utilized by tracking the desired speed using Fractional Order Proportional Derivative (FOPD) controller with a smart tuning algorithm named Sunflower Optimization (SFO) algorithm to satisfy robust and efficient controlled speed. The numerical analysis is obtained using Matlab program in two steps, controlling the system to reach the desired value in best and stable response then apply two undesired signals (disturbance signals) to test system robustness and finally compare the suggested controller with different conventional controllers(Normal PD controller-Optimal PD controller). © 2024 IEEE.

关键词： MATLAB

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Data-driven output regulation control for constrained linear systems

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Science China(Information Sciences) 2025年第3期68卷 338-353页

作者： Chaoyu XIA Yi DONG Chaoli WANG Shengyuan XU Shanghai Research Institute for Intelligent Autonomous Systems Tongji University College of Electronic and Information Engineering Shanghai Research Institute for Intelligent Autonomous SystemsTongji University Department of Control Science and Engineering School of Optical-Electrical and Computer EngineeringUniversity of Shanghai for Science and Technology Department of Automation Nanjing University of Science and Technology

This study introduces a data-driven approach for state and output feedback control addressing the constrained output regulation problem in unknown linear discrete-time systems. Our method ensures effective tracking performance while satisfying the state and input constraints, even when system matrices are not available. We first establish a sufficient condition necessary for the existence of a solution pair to the regulator equation and propose a data-based approach to obtain the feedforward and feedback control gains for state feedback control using linear programming. Furthermore, we design a refined Luenberger observer to accurately estimate the system state, while keeping the estimation error within a predefined set. By combining output regulation theory, we develop an output feedback control strategy. The stability of the closed-loop system is rigorously proved to be asymptotically stable by further leveraging the concept of λ-contractive sets.

关键词： output regulation constrained system data-driven.

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Demonstrating the Potential of Visualization in Education with the Manim Python Library: Examples from Algorithms and Data Structures 47

Demonstrating the Potential of Visualization in Education wi...

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47th ICT and Electronics Convention, MIPRO 2024

作者： Marković, Milorad Kaštelan, Ivan University Of Novi Sad Department Of Computing And Control Engineering Sub-department Of Computer Engineering And Communications Novi Sad Serbia

ISBN: (纸本)9798350382495

Visualization is a powerful tool for learning and teaching complex concepts, especially in the field of computer science. However, creating effective and engaging visualizations can be challenging and time-consuming for educators and students. This paper demonstrates how the Manim Python library, a free and open-source project for creating mathematical animations, can be used to create visualizations that illustrate algorithms and data structures in an undergraduate course. The paper showcases several examples of visualizations created with the Manim library, and explains how they help the students to understand the logic, behavior, and performance of the algorithms and data structures. The paper also discusses the benefits and limitations of the Manim library, and suggests some directions for future research and development. © 2024 IEEE.

关键词： Python

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A Data Fusion Service-Oriented Infrastructure for Production Line Monitoring 25

A Data Fusion Service-Oriented Infrastructure for Production...

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25th IEEE International Conference on Industrial Technology, ICIT 2024

作者： Gaiardelli, Sebastiano Dall'ora, Nicola Ponzio, Francesco Fraccaroli, Enrico Fummi, Franco Di Cataldo, Santa Vinco, Sara University Of Verona Department Of Engineering For Innovation Medicine Italy Politecnico Di Torino Department Of Control And Computer Engineering Italy

ISBN: (纸本)9798350340266

The Industry 4.0 paradigm has deeply changed classical manufacturing by introducing data-based analytics and decision-support strategies. At the state of the art, data used for manufacturing monitoring is mostly originated by sensors, that undergo a fusion step to align different data sources. However, this data is only relative to the monitored process, and it does not include the corresponding operating conditions and parameters, that are known by the Manufacturing Execution System (MES). Such information is currently either not included or labeled by hand, thus incurring in errors and limiting the amount of available labeled data. To overcome this issue and go beyond the sole data fusion of sensor data, this paper proposes an infrastructure that automatically label time series generated by sensors with information extracted from the MES, to achieve enhanced monitoring of the production process. The relevance of the proposed solution and the possibilities opened by its application are stressed with the application to a robotic arm. © 2024 IEEE.

关键词： Anomaly detection

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Neuro-Based Higher Order Sliding Mode control for Perturbed Nonlinear Systems

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Intelligent Automation & Soft Computing 2023年第4期36卷 385-400页

作者： Ahmed M.Elmogy Wael M.Elawady Computer Engineering Department Prince Sattam Bin Abdelaziz UniversityAlkharj24567KSA Department of Computers and Control Engineering Tanta UniversityTanta13457Egypt

One of the great concerns when tackling nonlinear systems is how to design a robust controller that is able to deal with *** researchers have been working on developing such type of *** of the most efﬁ-cient techniques employed to develop such controllers is sliding mode control(SMC).However,the low order SMC suffers from chattering problem which harm the actuators of the control system and thus unsuitable to be used in many practical *** this paper,the drawbacks of low order traditional sliding mode control(FOTSMC)are resolved by presenting a novel adaptive radial basis function neural network–based generalized rth order sliding mode control strategy for nth order uncertain nonlinear *** proposed solution adopts neural networks for their excellent capability in function approximation and thus used to approximate the nonlinearities and uncertainties for systems under *** approximation errors are completely considered in the developed *** proposed approach can be used with any order of sliding mode and thus can be generally used with various types of *** global sta-bility of the proposed control approach is proved through Lyapunov stability *** proposed approach is validated and assessed through simulations on the nonlinear inverted pendulum system with severe modeling *** simulations results show that the proposed approach provide superior perfor-mance compared with other approaches in the literature.

关键词： SMC nonlinear systems PID Lyapunov stability radial basis function neural networks

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Routing with ART: Adaptive Routing for P4 Switches With In-Network Decision Trees

Routing with ART: Adaptive Routing for P4 Switches With In-N...

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2024 IEEE Global Communications Conference, GLOBECOM 2024

作者： Angi, Antonino Sacco, Alessio Esposito, Flavio Marchetto, Guido Politecnico di Torino Department of Control and Computer Engineering Italy Saint Louis University Computer Science Department United States

ISBN: (纸本)9798350351255

Recent advances in Machine Learning (ML) brought several advantages also within computer network management. For programmable data planes, however, it is more challenging to benefit from these advantages, given their limited resource capabilities colliding with the complexity of ML models. In this paper, we propose ART, an attempt to simplify ML-based solutions for routing, so that they can "fit", i.e., be executed, on P4 switches. To provide such model simplification, ART relies on efficient knowledge distillation techniques, converting, in particular, Deep Reinforcement Learning (DRL) models into a simpler Decision Tree (DT). Our evaluation results validate the accuracy of the extracted model and the application of the model logic directly into switches with little impact, paving the way for a more reactive data plane programmability via machine learning integration. © 2024 IEEE.

关键词： Adversarial machine learning

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SSVEP Based BCI control of an Exoskeleton 18th

SSVEP Based BCI Control of an Exoskeleton

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18th International Conference on Interdisciplinarity in engineering, INTER-ENG 2024

作者： Sibișanu, Remus Constantin Olar, Marius Leonard Roșca, Sebastian Daniel Leba, Monica Computer and System Control Engineering Department University of Petrosani 20 Universitatii Petrosani332006 Romania

ISBN: (纸本)9783031816840

This paper explores recent innovation in the field of robotic teleoperation, presenting a state-of-the-art system for a robotic arm, configurable as an exoskeleton or prosthetic limb. Based on noninvasive neural headset technology, the system captures movement intentions directly from the user’s neural activity. By precisely interpreting neural signals and translating them into robotic arm movements, the system bridges the gap between human intention and robotic action. Its uniqueness lies in its ability to interpret the subtleties of human intent through non-invasive means, providing intuitive and fluid control over the robotic arm. The system is distinguished by the efficient use of rich neural activity, thus improving usability and opening up new possibilities for people with mobility impairments. The paper analyzes technical complexities, detailing the functionality of neural headsets, signal decoding algorithms, and the command formation process for the robotic arm. It also presents empirical evidence of the effectiveness of the system and discusses possible applications and future improvements. This research not only contributes to robotic teleoperation, but also paves the way for more human and empathetic interactions with machines in the future. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Exoskeleton (Robotics)

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Cost-aware cloud workflow scheduling using DRL and simulated annealing

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Digital Communications and Networks 2024年第6期10卷 1590-1599页

作者： Yan Gu Feng Cheng Lijie Yang Junhui Xu Xiaomin Chen Long Cheng School of Control and Computer Engineering North China Electric Power UniversityBeijing 100026China School of Mathematics Southwest Jiaotong UniversityChengdu 610032China Department of Computer Science University of ReadingReading RG66AHUK

Cloud workloads are highly dynamic and complex,making task scheduling in cloud computing a challenging *** several scheduling algorithms have been proposed in recent years,they are mainly designed to handle batch tasks and not well-suited for real-time *** address this issue,researchers have started exploring the use of Deep Reinforcement Learning(DRL).However,the existing models are limited in handling independent tasks and cannot process workflows,which are prevalent in cloud computing and consist of related *** this paper,we propose SA-DQN,a scheduling approach specifically designed for real-time cloud *** approach seamlessly integrates the Simulated Annealing(SA)algorithm and Deep Q-Network(DQN)*** SA algorithm is employed to determine an optimal execution order of subtasks in a cloud server,serving as a crucial feature of the task for the neural network to *** provide a detailed design of our approach and show that SA-DQN outperforms existing algorithms in terms of handling real-time cloud workflows through experimental results.

关键词： Cloud computing Deep reinforcement learning Simulated annealing algorithm Job scheduling Workflow

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