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Multi-agent Gaussian Process Motion Planning via Probabilistic Inference

IFAC-PapersOnLine 2018年第22期51卷 160-165页

作者： Petrovi, Luka Markovi, Ivan Seder, Marija University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Autonomous Systems and Mobile Robotics Croatia

This paper deals with motion planning for multiple agents by representing the problem as a simultaneous optimization of every agent's trajectory. Each trajectory is considered as a sample from a one-dimensional continuous-time Gaussian process (GP) generated by a linear time-varying stochastic differential equation driven by white noise. By formulating the planning problem as probabilistic inference on a factor graph, the structure of the pertaining GP can be exploited to find the solution efficiently using numerical optimization. In contrast to planning each agent's trajectory individually, where only the current poses of other agents are taken into account, we propose simultaneous planning of multiple trajectories that works in a predictive manner. It takes into account the information about each agent's whereabouts at every future time instant, since full trajectories of each agent are found jointly during a single optimization procedure. We compare the proposed method to an individual trajectory planning approach, demonstrating significant improvement in both success rate and computational efficiency. © 2018

关键词： Motion planning Computational efficiency Continuous time systems Differential equations Gaussian distribution Gaussian noise (electronic) Multi agent systems One dimensional Optimization Stochastic systems Trajectories White noise Factor graphs Numerical optimizations Optimization procedures Probabilistic inference Simultaneous optimization Stochastic differential equations Trajectory optimization Trajectory Planning

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Calibration and Definition of a System for Automated Ship Length Measurement 5

Calibration and Definition of a System for Automated Ship Le...

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5th IEEE International Conference on Smart Systems and Technologies, SST 2022

作者： Mostarac, Petar Drmić, Stipan Ljudevit Janković, Jasna Ilić, Željko Šišul, Gordan Šala, Alan Department of Electrical Engineering Fundamentals and Measurements Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia University of Zagreb Faculty of Electrical Engineering and Computing Department of Telecommunications Zagreb Croatia University of Zagreb Faculty of Electrical Engineering and Computing Department of Communication and Space Technologies Zagreb Croatia

ISBN: (数字)9781665482158

ISBN: (纸本)9781665482158

This paper describes the system for automated ship length measurement. The methodology of reconstructing a 3D scene using a stereovision system with all necessary steps is presented. The location of the system at the entrance to the marina has been proposed. The process of stereovision calibration is explained, and results of calibration are presented. The image rectification process and the calculation of disparity were performed. The disparity is used to reconstruct the 3D scene and dimensions of the ship. Examples of this process are presented. The stereo vision system will be used for text recognition and ship length measurement on low power embedded systems. © 2022 IEEE.

关键词： Calibration

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Smart marina: Concept of stereovision based berthing aid system 4

Smart marina: Concept of stereovision based berthing aid sys...

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4th International Conference on Smart Grid Metrology, SMAGRIMET 2023

作者： Mostarac, Petar Kahlina, Leon Jankovic, Jasna Ilic, Zeljko Sisul, Gordan Sala, Alan University of Zagreb Faculty of Electrical Engineering and Computing Department of Electrical Engineering Fundamentals and Measurements Zagreb Croatia University of Zagreb Faculty of Electrical Engineering and Computing Department of Telecommunications Zagreb Croatia University of Zagreb Faculty of Electrical Engineering and Computing Department of Communication and Space Technologies Zagreb Croatia

ISBN: (纸本)9798350323597

This paper describes and proposed the conceptual framework for automated system for berth allocation in the marina. The method for reconstruction and registration number detection are based on reconstruction of 3D scene using calibrated stereovision system. Process of extraction of data is based on multi base searching protocol. The correspondence between all participants in the use of the marina is fully described and their interaction through the berthing aid system is defined. A brief analysis of the communication technologies on which the berthing aid system works is presented. © 2023 IEEE.

关键词： Automation

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On a method for testing ICA based blind source separation algorithm performance applicable in audiobased on-load tap changer diagnostics

On a method for testing ICA based blind source separation al...

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Mediterranean Conference on Power Generation, Transmission, Distribution and Energy Conversion, MEDPOWER 2018

作者： Secic, Adnan Secic, Adnan Hlupic, Nikica Kuzle, Igor DV Power Lidingö Sweden Faculty of Electrical Engineering and Computing Zagreb Croatia Department of Applied Computing Faculty of Electrical Engineering and Computing Zagreb Croatia Power System Department Faculty of Electrical Engineering and Computing Zagreb Croatia

ISBN: (纸本)9781839531330

The biggest challenges in using Blind Source Separation (BSS) algorithms, such as those based on Independent Component Analysis (ICA), arise from the inability to determine the reliability of the resulting independent components (signals). In sensitive areas, such as machinery diagnostics, such uncertainties could also have a negative impact on decision-making processes. For that reason, any additional confirmation that yields a better understanding of BSS algorithm capabilities and the issues that may arise from using this method in solving audio-based diagnostic problems is desirable. In this paper, the focus is placed on On Load Tap Changer (OLTC) audio-based diagnostics. The dominant audio signals that mix with the carrier of the useful diagnostic material, in this case, express stationary character. Given the fact that the targeted OLTC audio fingerprint usually represents a highly non-stationary signal that appears only in a certain period when compared to these interferences, it is possible to develop a source separation method based on a simple modeling approach. For that purpose, in this paper, a non-linear latest square curve fitting method was used for the extraction of the OLTC audio fingerprint, which was then used as a reference for testing the source separation efficiency of several different ICA algorithms. © 2018 Institution of engineering and Technology. All rights reserved.

关键词： Decision making

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Time Synchronization Properties in OFDM System Based on Cyclic Prefix 65

Time Synchronization Properties in OFDM System Based on Cycl...

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65th International Symposium ELMAR, ELMAR 2023

作者： Cavlek, Ivan Zeger, Ivana Sisul, Gordan Grgic, Sonja University of Zagreb Faculty of Electrical Engineering and Computing Zagreb Croatia

ISBN: (纸本)9798350325126

The acceptable performance of the receiver side in communication systems can be achieved only if synchronization between the transmitter and the receiver exists. In this paper, two techniques that remove the influence of symbol time offset using cyclic prefix are analyzed to accomplish synchronization - accurate conduct of an orthogonal frequency division multi-plexing (OFDM) system. The first technique is based on finding the maximum correlation between two blocks of samples and the second one is based on finding the similarity between two blocks, which is maximized when the difference between them is minimized. Two types of channel conditions are observed. The first one uses only additive white Gaussian noise, while the second one also uses the channel impulse response of the Rayleigh fading channel. By adding Rayleigh channel effect, both estimation performances, by calculating correlation and difference, deteriorate if sufficient level of signal-to-noise ratio and proper length of cyclic prefix are not provided. © 2023 IEEE.

关键词： Synchronization

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Intelligent Lightning Hazard Warning System for a Wind Farm

Intelligent Lightning Hazard Warning System for a Wind Farm

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2023 International Conference on Future Energy Solutions, FES 2023

作者： Foroozan, Hossein Franc, Bojan Vašak, Mario Laboratory for Renewable Energy Systems Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

ISBN: (纸本)9798350332308

Wind energy is one of the most important forms of renewable energy, and with the progress in this field, as the production capacity of wind turbines has increased, their height has also increased significantly. The height of wind turbines, number of them in a wind farm, and their specific location have increased the probability of lightning strikes and made them one of the most important hazards for wind turbines. Given the importance of maintenance and inspection for wind farms, creating a system for detecting safe time for these operations with low lightning probability is very useful. In this regard, by analyzing local meteorological data (pressure, temperature, wind speed, wind direction and humidity) and the lightning location system data an intelligent warning system for lightning hazard in a wind farm is developed based on machine learning methods. It is applied and tested on a case study of a wind farm in Croatia. The results show the success of this lightning hazard warning system in predicting the safe times with low lightning probability for the wind farm. © 2023 IEEE.

关键词： Weather forecasting

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Visual Object Detection - An Overview of Algorithms and Results 44

Visual Object Detection - An Overview of Algorithms and Resu...

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44th International Convention on Information, Communication and Electronic Technology, MIPRO 2021

作者： Gudelj, D. Stama, A.F. Petrovic, J. Pale, P. University of Zagreb Faculty of Electrical Engineering and Computing Zagreb Croatia

ISBN: (纸本)9789532331011

Object detection is an active area of research with rapid growth in the number of new publications. It is a computer vision technique widely used in various domains and it forms a foundation for a variety of applications, such as face detection and autonomous driving. The precondition for successful object detection are efficient algorithms that are able to detect features related to a certain object in static or moving images and the processing power which ensures a fast execution. This paper provides an overview of the current most significant visual object detection algorithms, their essential features, their advantages, limitations, as well as datasets used for their training and evaluation. Based on the provided overview, this paper attempts to also recognize directions for further development and contribution to the area. © 2021 Croatian Society MIPRO.

关键词： Object detection

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Evaluation of the acoustical characteristics of the largest concert hall in Croatia

Evaluation of the acoustical characteristics of the largest ...

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9th European Conference on Noise Control, EURONOISE 2012

作者： Jambrošič, Kristian Domitrovič, Hrvoje Horvat, Marko Petošič, Antonio University of Zagreb Faculty of Electrical Engineering and Computing Zagreb Croatia

ISBN: (纸本)9788001050132

This paper summarizes the results of a case study in which the acoustical conditions in the largest concert hall in Croatia were evaluated a making a series of impulse response measurements and calculating the values of relevant objective parameters. Monaural and spatial acoustical parameters were measured in the audience area using both an omnidirectional loudspeaker positioned on stage and the sound reinforcement system installed in the hall as sound sources. The main goal of the study was to assess the acoustical quality of the hall regarding its primary purpose, i.e. symphonic music performance, by comparing the measurement results with the results obtained for other concert halls that have already been recognized as being of good subjective quality. Additionally, the design, size and shape of the hall were examined in order to determine their appropriateness for the primary purpose of the hall, as well as for secondary events such as congresses. The calculated acoustic parameters were evaluated and certain flaws were identified. Coarse ideas on the possible ways of implementing modifications in the hall were investigated using room acoustics simulation software. © European Acoustics Association.

关键词： Loudspeakers

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A Review of Lecture Capture Technology and Its Usage in Higher Education 44

A Review of Lecture Capture Technology and Its Usage in High...

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44th International Convention on Information, Communication and Electronic Technology, MIPRO 2021

作者： Biscan, M.P. Milanovic, M. Petrovic, J. Pale, P. University of Zagreb Faculty of Electrical Engineering and Computing Zagreb Croatia

ISBN: (纸本)9789532331011

The COVID-19 pandemic recently introduced significant changes to formal education, and it is difficult to estimate the long-lasting effects it might have on the educational systems worldwide. Without compromise, educational institutions had to switch from live classes, where teachers and students had physical contact, to online classes practically overnight. In this situation, lecture capture or the recordings of live lectures have gained much attention. Even though they have already been in use for many years in university teaching, massive open online courses, flipped classrooms, hybrid, and online classroom environments, it is now that their qualities became very appealing. This paper provides an overview of the state of the art of the lecture capture landscape, including different formats of lecture capture, free and commercial players that can create or play lecture captures, the reported results related to using lecture capture, and some additional thoughts on how their usage may affect higher education. In this paper, the broad landscape of lecture capture related technologies, applications, usage outcomes, and trends have been summarized, to provide a review over this domain of rising importance. © 2021 Croatian Society MIPRO.

关键词： E-learning

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Towards experimental investigation of metamaterial-based DB surface in waveguide environment

Towards experimental investigation of metamaterial-based DB ...

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6th European Conference on Antennas and Propagation, EuCAP 2012

作者： Zaluski, Davor Muha, Damir Hrabar, Silvio University of Zagreb Faculty of Electrical Engineering and Computing Zagreb Croatia

ISBN: (纸本)9781457709180

关键词： Metamaterials

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