This paper addresses a collision avoidance problem in a multi-robot system. Each robot has a set of possible trajectories, each trajectory fulfilling its individual task. The trajectories consist of sequences of regio...
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ISBN:
(纸本)9781479978878
This paper addresses a collision avoidance problem in a multi-robot system. Each robot has a set of possible trajectories, each trajectory fulfilling its individual task. The trajectories consist of sequences of regions to be followed, and the time for moving inside each region is known. The problem is to avoid inter-robot collisions by imposing initial time delays for each trajectory. Two solutions are developed, depending on the possibility of imposing a certain trajectory from the available set of paths for each robot. The solutions have the form of mixed integer linear programming optimizations that return the initial time delays and, when necessary, the chosen trajectory for each robot. Finally, we perform a statistical study on the proposed solutions and we conclude that one formulation is preferable to the others.
New approaches and business models for the development of renewable sources are needed as an alternative to feed-in tariffs. In this work, we present a tool-chain based on a distributed infrastructure for planning ren...
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ISBN:
(纸本)9781467379304
New approaches and business models for the development of renewable sources are needed as an alternative to feed-in tariffs. In this work, we present a tool-chain based on a distributed infrastructure for planning renewable energy systems deployment. This solution aims at fostering new services and business models by promoting energy community actions. Such tool-chain is able to: i) evaluate the photovoltaic potential of the rooftops of a community;ii) perform economic assessments of distributed photovoltaic system plants considering a "community based business model". As case study, we considered a foothill community in north-west of Italy in which the tool-chain performed economic and energetic analyses. In order to integrate the proposed business model in the Italian regulatory framework, we analysed the Italian laws for electricity distribution and operation, highlighting the limitations in integrating such community approach.
We propose a novel method for maximum-likelihood-based parameter inference in nonlinear and/or non-Gaussian state space models. The method is an iterative procedure with three steps. At each iteration a particle filte...
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In this paper we study how the language cocktails are composed. How many languages are used in each software projects, which language types are used and which languages are typically used together. Our study was done ...
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ISBN:
(纸本)9781450324762
In this paper we study how the language cocktails are composed. How many languages are used in each software projects, which language types are used and which languages are typically used together. Our study was done on a sample of over 15,000 projects from the largest software forge, GitHub. The results show that many languages are used in each project: 96% projects employ at least 2 languages, over 50% employ at least two programming languages. Finally, there are strong relations between different languages: hence sets of languages tend to be adopted together. Copyright 2014 ACM.
Complementary filters coupled with MEMS IMU are preferred in applications where computational simplicity, low power and low cost is of prime importance. Such algorithms are equipped with fixed filter’s gain, however ...
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In the present paper, a hybrid architecture based on multi-agent systems is proposed, where it is included a module for formal evaluation. This module, allows the processes verification involved in the level/layer/env...
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ISBN:
(纸本)9781479987375
In the present paper, a hybrid architecture based on multi-agent systems is proposed, where it is included a module for formal evaluation. This module, allows the processes verification involved in the level/layer/environment steps. It is also developed a methodology for trajectory tracking based on the generation of a reliable virtual space, on which the navigation takes place under operative conditions (safety and effectiveness). Time processing operations reduction is expected during the inspection.
This paper shows how control techniques, such as PID or generalized predictive control, can improve the performance of TCP/IP networks when dealing with congestion. Drop tail, or more sophisticated AQM techniques such...
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The aim of this paper is to present a method for estimation of parametric faults in closed-loop systems. The key technology applied in this paper is coprime factorization of both the dynamic system as well as the feed...
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ISBN:
(纸本)9781479917730
The aim of this paper is to present a method for estimation of parametric faults in closed-loop systems. The key technology applied in this paper is coprime factorization of both the dynamic system as well as the feedback controller. Using the Youla-Jabr-Bongiorno-Kucera (YJBK) parameterization, it is shown that a certain matrix transfer function, the fault signature matrix, is an LFT (linear fractional transformation) of the parametric faults. Further, for limit parametric faults, the fault signature matrix transfer function can be approximated with a linear matrix function of the parametric faults.
In this paper, a transformerless PV inverter is proposed, which is formed by adding a neutral leg into conventional half bridge inverter. It consists of one neutral leg and one inverter leg. The presence of the neutra...
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Peer-assessment can be used to evaluate the knowledge level achieved by learners, while exposing them to a significant leaning activity at the same time. Here we see an approach to semi-automatic grading of school wor...
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