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检索条件"机构=Distributed Algorithms and Systems"

共 99 条记录，以下是61-70 订阅

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A new collision warning system for lead vehicles in rear-end collisions

A new collision warning system for lead vehicles in rear-end...

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IEEE Symposium on Intelligent Vehicle

作者： Adrian Cabrera Sven Gowal Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering Ecole Polytechnique Fédérale de Lausanne Switzerland

Collision Warning systems (CWS) are safety systems designed to warn the driver about an imminent collision. A CWS monitors the dynamic state of the traffic in realtime by processing information from various proprioceptive and exteroceptive sensors. It assesses the potential threat level and decides whether a warning should be issued to the driver through auditory and/or visual signals. Several measures have already been defined for threat assessment and various CWS have been proposed in literature. In this paper, we will focus on two time-based measures that assess both front and rear collision threats. In particular, a new threat metric, the time-to-last-second-acceleration (T lsa ), for lead vehicles in rear-end collision is proposed and compared with its counterpart, the time-to-last-second-braking (T lsb ) [18]. The T lsa is a novel time-based approach that focuses on the lead vehicle (as opposed to the following vehicle). It inherits the properties of the T lsb and, as such, is coherent with the human judgement of urgency and severity of threats. It directly quantifies the threat level of the current dynamic situation before a required evasive action (i.e. maximum acceleration) needs to be applied. Furthermore, different warning thresholds are proposed by considering the average driver reaction time. Its effect on decreasing the severity of a rear-end collision is studied and its reliability is tested using a well-established physics-based robotics simulator, namely Webots [13].

关键词： Vehicles Acceleration Visualization Vehicle dynamics Sensors Equations Mathematical model

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Real-time automated modeling and control of self-assembling systems

Real-time automated modeling and control of self-assembling ...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Grégory Mermoud Massimo Mastrangeli Utkarsh Upadhyay Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory (DISAL) School of Architecture Civil and Environmental Engineering École Polytechnique Fédérale de Lausanne Switzerland

We present the M 3 framework, a formal and generic computational framework for modeling and controlling stochastic distributed systems of purely reactive robots in an automated and real-time fashion. Based on the trajectories of the robots, the framework builds up an internal microscopic representation of the system, which then serves as a blueprint of models at higher abstraction levels. These models are then calibrated using a Maximum Likelihood Estimation (MLE) algorithm. We illustrate the structure and performance of the framework by performing the online optimization of a bang-bang controller for the stochastic self-assembly of water-floating, magnetically latching, passive modules. The experimental results demonstrate that the generated models can successfully optimize the assembly of desired structures.

关键词： Robots Computational modeling Trajectory Aerospace electronics Coordinate measuring machines Stochastic processes Real time systems

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Formalizing Institutions as Executable Petri Nets for distributed Robotic systems 11

Formalizing Institutions as Executable Petri Nets for Distri...

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11th European Conference on Artificial Life, ECAL 2011

作者： Pereira, José N. Silva, Porfírio Lima, Pedro U. Martinoli, Alcherio Distributed Intelligent Systems and Algorithms Laboratory EPFL Lausanne Switzerland Intelligent Robots and Systems Group Institute for Systems and Robotics Lisbon Portugal

ISBN: (纸本)9780262297141

Institutional Robotics is a new approach to the coordination of distributed robotic systems, drawing inspiration from social sciences. It aims to provide a comprehensive strategy for specifying social interactions among robots in the form of institutions. In this paper, we present a formalism for institutions in the Institutional Robotics model. We apply this formalism to two case studies. The first is concerned with a swarm of simple robots which has to maintain wireless connectivity. The second focuses on role allocation in a robotic team aimed at improving coordination and performance in a transportation task. © 2011 ECAL 2011: The 11th European Conference on Artificial Life. All rights reserved.

关键词： Robotics

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Dynamic Positioning of Beacon Vehicles for Cooperative Underwater Navigation

Dynamic Positioning of Beacon Vehicles for Cooperative Under...

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IEEE/RSJ International Conference on Intelligent Robotics and systems

作者： Alexander Bahr John J. Leonard Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory at the Ecole Poly-technique Fédérale de Lausanne， Lausanne， Switzerland Department of Mechanical Engineering at Massachusetts Institute of Technology Cambridge MA USA

ISBN: (纸本)9781467317375

Autonomous Underwater Vehicles (AUVs) are used for an ever increasing range of applications due to the maturing of the technology. Due to the absence of the GPS signal underwater, the correct estimation of its position is a challenge for submerged vehicles. One promising strategy to mitigate this problem is to use a group of AUVs where one or more assume the role of a beacon vehicle which has a very accurate position estimate due to an expensive navigation suite or frequent surfacings. These beacon vehicles broadcast their position and the remaining survey vehicles can use this position information and intra-vehicle ranges to update their position estimate. The effectiveness of this approach strongly depends on the geometry between the beacon vehicles and the survey vehicles. The trajectories of the beacon vehicles should thus be planned with the goal to minimize the position uncertainty of the survey vehicles. We propose a distributed algorithm which dynamically computes the locally optimal position for a beacon vehicle using only information obtained from broadcast communication of the survey vehicles. It does not need prior information about the survey vehicles' trajectory and can be used for any group size of beacon and survey vehicles.

关键词： AUVs GPS survey vehicles vehicle Autonomous underwater vehicles Underwater navigation position estimation Global Positioning systems Group Size POSITION INFORMATION Dynamic positioning distributed algorithms

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Measuring sensible heat flux with high spatial density

Measuring sensible heat flux with high spatial density

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IEEE Sensors Applications Symposium, SAS

作者： Alexander Bahr Chris Evans Alcherio Martinoli Hendrik Huwald Chad Higgins Marc Parlange Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering Ecole Polytechnique Fédérale de Lausanne Lausanne Switzerland Environmental Fluid Mechanics and Hydrology School of Architecture Civil and Environmental Engineering Ecole Polytechnique Fédérale de Lausanne Lausanne Switzerland

Sensible heat flux is an essential quantity in the surface energy budget. Information about it is crucial for the derivation of models of air-surface interaction which in turn are needed for larger scale climate models. Sensible heat flux varies greatly across short distances and thus many sensors are required in order to obtain measurements of sufficient spatial density. The standard measurement method however requires expensive equipment which constrains the deployment of a large number of sensors. Our work implements a method relying only on the variance of the measured temperature to compute the sensible heat flux. We first verify the validity of this method and then modify Sensorscope, a commercially available weather station, to capture the required data. The resulting setup is able to provide sensible heat flux measurements with high spatial density in near real time at negligible additional cost.

关键词： Temperature sensors Temperature measurement Heating Microcontrollers Fluid flow measurement Frequency measurement

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Self-stabilization in hierarchically structured energy markets

Self-stabilization in hierarchically structured energy marke...

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作者： Lässig, Jörg Satzger, Benjamin Kramer, Oliver Institute of Computational Science University of Lugano Switzerland Distributed Systems Group Vienna University of Technology Austria Algorithms Group ICSI Berkeley United States

ISBN: (纸本)9780769543673

The paper investigates the self-stabilization of hierarchically structured markets. We propose a new approach that is motivated by the physical structure of the energy grid and generalizes classical market structures in a natural way. Hierarchical markets have several advantages compared to monolithic markets, i.e., improved reliability and scalability, locality of information, and proximity of energy production and consumption. By simulating scenarios based on real world consumption and production data including households, different renewable energy sources, and other plant types, we present a proof-of-concept of stability of the hierarchical markets in various simulations. © 2011 IEEE.

关键词： Smart power grids

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Modeling and benchmarking Ultra-Wideband localization for mobile robots

Modeling and benchmarking Ultra-Wideband localization for mo...

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IEEE International Conference on Ubiquitous Wireless Broadband (ICUWB)

作者： Alexander Bahr Alexander Feldman James Colli-Vignarellii Stephan Robert Catherine Dehollaini Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory Ecole Polytechnique Federale de Lausanne (EPFL) Switzerland Institute for Information and Communication Technologies Haute Ecole d'Ingenierie et de Gestion du Canton de Vaud (HEIG-VD) Switzerland Institute for Information and Communication Technologies Haute Ecole d'Ingénierie et de Gestion du Canton de Vaud (HEIG-VD) Ecole Polytechnique Federale de Lausanne Lausanne VD CH

Ultra-Wideband Impulse Radio (UWB-IR) is a technology that has great potential to solve numerous mobile robotic and asset tracking problems in GPS-denied environments. Our goal is to help software and hardware designers in improving the state-of-the-art in UWB-based robotic localization. We developed a test-bed where an UWB transmitter is attached to a mobile robot. By combining the received signals with the robot's position log acquired through the dead-reckoning sensors, we obtain UWB signals which are well referenced with respect to the transmitter-receiver distance and orientation. In addition, we provide a model for every component of the setup. The entire setup allows us to simulate from first principles every aspect of an UWB localization system and then to implement low-level signal processing as well as higher-level modulation and localization techniques. We implement an Automatic Gain Control (AGC) algorithm to demonstrate the rapid proto-typing capabilities of the test-bed. Our work shows how an UWB robotic system and its models can be involved in all phases of the development of a technology that can help robot's navigation, localization and communication algorithms.

关键词： Receivers Numerical models Gain control Mathematical model Transmitters Mobile robots

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A reciprocal sampling algorithm for lightweight distributed multi-robot localization

A reciprocal sampling algorithm for lightweight distributed ...

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2011 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Amanda Prorok Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering Ecole Polytechnique Fédérale de Lausanne Switzerland

This work is situated in the context of collaboratively solving the localization problem for unknown initial conditions. We address this problem with a novel, fully decentralized, real-time particle filter algorithm, designed to accommodate realistic robotic assumptions including noisy sensors, and asynchronous and lossy communication. In particular, we introduce a collaborative reciprocal sampling algorithm which allows a drastic reduction in the number of particles needed to achieve localization. We elaborate an analysis of our reciprocal sampling method and support our conclusions with simulation results. Finally, we validate our approach on a team of four real robots within a controlled experimental setup.

关键词： Robot kinematics Manganese Robot sensing systems Mathematical model Collaboration Equations

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Bayesian rendezvous for distributed robotic systems

Bayesian rendezvous for distributed robotic systems

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2011 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Sven Gowal Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering Ecole Polytechnique Fédérale de Lausanne Switzerland

In this paper, we state, using thorough mathematical analysis, sufficient conditions to perform a rendezvous maneuver with a group of differential-wheeled robots endowed with an on-board, noisy, local positioning system. In particular, we extend the existing framework of noise-free, graph-based distributed control with a layer of Bayesian reasoning allowing to solve the rendezvous problem more efficiently in presence of uncertainties and in a probabilistically sound way. Finally we perform extensive experiments with a team of four real robots, and simulation with their corresponding simulated counterpart, to confirm the benefits of our Bayesian approach.

关键词： Nickel Equations Robot sensing systems Noise Noise measurement Mathematical model

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Self-Stabilization in Hierarchically Structured Energy Markets

Self-Stabilization in Hierarchically Structured Energy Marke...

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International Conference on Information Technology: New Generations (ITNG)

作者： Jorg Lassig Benjamin Satzger Oliver Kramer Institute of Computational Science University of Lugano Switzerland Distributed Systems Group University of Technology Vienna Austria Algorithms Group ICSI Berkeley USA

关键词： Information technology

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