We present an innovations-based prioritization mechanism to efficiently use network resources for data gathering, without compromising the real-time decision making capability of the controlsystems. In the envisioned...
详细信息
ISBN:
(纸本)9781479978878
We present an innovations-based prioritization mechanism to efficiently use network resources for data gathering, without compromising the real-time decision making capability of the controlsystems. In the envisioned protocol, each sensor assigns the Value of Information (VoI) contained in its current observations for the network as the priority. Tournaments are used to compare priorities and assign transmission slots, like in the CAN bus protocol. By using a rollout strategy, we derive feasible algorithms for computing the VoI-based priorities for the case of coupled and decoupled systems. In the case of decoupled systems, performance guarantees with regard to the control cost of the VoI-based strategy are identified. We illustrate the efficiency of the proposed approach on a platooning example in which the vehicles receive measurements from multiple sensors.
This paper proposes new algorithms for finding control gains of PI controller for systems with time delay. Algorithms are designed based on time domain, frequency domain and Robustness specifications. Proposed algorit...
详细信息
We present a novel algorithm for reducing the state dimension, i.e., order, of linear parameter varying (LPV) discrete-time state-space (SS) models with affine dependence on the scheduling variable. The input-output b...
详细信息
ISBN:
(纸本)9781479978878
We present a novel algorithm for reducing the state dimension, i.e., order, of linear parameter varying (LPV) discrete-time state-space (SS) models with affine dependence on the scheduling variable. The input-output behavior of the reduced order model approximates that of the original model. In fact, for input and scheduling sequences of a certain length, the input-output behaviors of the reduced and original model coincide. The proposed method can also be interpreted as a reachability and observability reduction (minimization) procedure for LPV-SS representations with affine dependence.
This paper considers the synthesis of tracking control laws for discrete-time linear systems. A two-step approach that results in a sequence of quadratic contractive sets is proposed. Firstly, the quadratic sets are o...
详细信息
ISBN:
(纸本)9781467371605
This paper considers the synthesis of tracking control laws for discrete-time linear systems. A two-step approach that results in a sequence of quadratic contractive sets is proposed. Firstly, the quadratic sets are obtained by maximizing the size of the sets. Then, secondly, a conic partition is employed to construct continuous conewise linear control laws for each quadratic set while optimizing performance. Furthermore, a set-theoretic method is employed to extend the stabilizing law for the tracking control problem. As a result it yields scalable off-line computation of the control law. Moreover, this approach provides stability guarantees and constraints satisfaction. The effectiveness of the approach is demonstrated using an illustrative example.
Extended objects generate multiple measurements and are characterised with their size or volume. They require methods able to deal with the data association problem and at the same time to estimate both their kinemati...
详细信息
ISBN:
(纸本)9781849198639
Extended objects generate multiple measurements and are characterised with their size or volume. They require methods able to deal with the data association problem and at the same time to estimate both their kinematic states and shape parameters. This paper presents a solution to the extended object tracking for rectangular extended objects, with the Box Particle filter (Box PF) approach. The Box PF is implemented based on dynamically calculated constraints. Promising results are demonstrated.
This paper proposes a simple, non-iterative way of calculating low-complexity controlled contractive sets, and shows how such set can be used for controller design for systems with state and input constraints. The res...
详细信息
In this paper, a new hierarchical data-driven modelling strategy based on Interval Type-2 Fuzzy Clustering is elicited for the Interval Type-2 Takagi-Sugeno-Kang (TSK) Fuzzy Logic System. This framework which we have ...
详细信息
This paper lays down the foundations of developing a reconfigurable control system within the Robot Operating System (ROS) for autonomous robots. The essential components of robots are programmed under a ROS system. A...
详细信息
This paper lays down the foundations of developing a reconfigurable control system within the Robot Operating System (ROS) for autonomous robots. The essential components of robots are programmed under a ROS system. A formal model is defined as a tripartite graph to represent the robots functional architecture. ROS systems are then generalised to component libraries for any ROS architecture and an abstract model as a “system graph” is introduced. Orthogonality of a library and a system graph is defined and redundancy levels of robot components are studied for maintaining full functionality of the robot by automated reconfiguration in face of hardware malfunction. This allows AI planning tools, such as Planning Domain Definition Language (PDDL), to compute permissible reconfigurations. We present an example of a pair of robotic arms which requires reconfiguration of the underlying control system in order to retain the capability to carry out a task.
Effective spectrum sensing strategies enable cognitive radios to enhance the spectrum efficiency. In this paper, modeling, performance analysis, and optimization of spectrum handoff in a centralized cognitive radio ne...
详细信息
This paper presents an application of a model checking framework to robotic search, particularly search problems known as pursuit-evasion that assume a smart, fast and evading target. Within the framework we can model...
详细信息
This paper presents an application of a model checking framework to robotic search, particularly search problems known as pursuit-evasion that assume a smart, fast and evading target. Within the framework we can model different pursuit-evasion problems and thereby enable a direct and rigorous comparison between different problem formulations and their respective properties and algorithms. In addition, we enable the computation of new kinds of solutions to pursuit-evasion problems, so called strategies, that can consider multiple criteria, e.g. order of vertices or connectedness. These strategies are computed by satisfying a temporal logic formula by model checking. We present theorems that show the connection between a strategy and a temporal logic formula. We demonstrate our approach by applying it to two different graph-based pursuit-evasion problems and show how to enable a comparison. This work presents the first step and basis for further investigations of more rigorous and unified approaches to understand, compare and design pursuit-evasion models.
暂无评论