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International Conference on Advanced Robotics (ICAR)

作者： Barnabás Bugár-Mészáros András L. Majdik Machine Perception Research Laboratory HUN-REN Institute for Computer Science and Control (HUN-REN SZTAKI) Budapest Hungary Department of Material Handling and Logistics Systems Budapest University of Technology and Economics Budapest

The detailed reconstruction of complex unknown environments is a challenging task in several robotic applications. Multi-robot systems combining the advantages of aerial and ground vehicles are often used for this purpose, where the different perspectives of sensors are leveraged to reduce the proportion of uncovered areas. Since the lower speed of ground robots in cluttered environments compared to aerial vehicles can significantly limit the efficiency of the exploration, in this paper we propose a cooperative mapping system in which only the necessary regions are assigned to the ground vehicle. These regions are selected based on the structural analysis of the 3D model built by an aerial robot and a global path is computed connecting them which only passes traversable parts of the environment. A ground 3D map is also created and the two models are fused when the robot reaches the last waypoint of the path. We tested our solution in multiple simulated environments to verify its functionality.

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Dynamic Event-Triggered Quadratic Nonfragile Filtering for Non-Gaussian Systems:Tackling Multiplicative Noises and Missing Measurements

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IEEE/CAA Journal of Automatica Sinica 2024年第5期11卷 1127-1138页

作者： Shaoying Wang Zidong Wang Hongli Dong Yun Chen Guoping Lu College of Science Shandong University of AeronauticsBinzhou 256603China College of Electrical Engineering and Automation Shandong University of Science and TechnologyQingdao 266590 Department of Computer Science Brunel University LondonUxbridge UB83PHUK Artificial Intelligence Energy Research Institute Northeast Petroleum UniversityDaqing 163318 Heilongjiang Provincial Key Laboratory of Networking and Intelligent Control Northeast Petroleum UniversityDaqing 163318China School of Automation Hangzhou Dianzi UniversityHangzhou 310018China School of Electrical Engineering Nantong UniversityNantong 226019China

This paper focuses on the quadratic nonfragile filtering problem for linear non-Gaussian systems under multiplicative noises,multiple missing measurements as well as the dynamic event-triggered transmission *** multiple missing measurements are characterized through random variables that obey some given probability distributions,and thresholds of the dynamic event-triggered scheme can be adjusted dynamically via an auxiliary *** attention is concentrated on designing a dynamic event-triggered quadratic nonfragile filter in the well-known minimum-variance *** this end,the original system is first augmented by stacking its state/measurement vectors together with second-order Kronecker powers,thus the original design issue is reformulated as that of the augmented ***,we analyze statistical properties of augmented noises as well as high-order moments of certain random *** the aid of two well-defined matrix difference equations,we not only obtain upper bounds on filtering error covariances,but also minimize those bounds via carefully designing gain ***,an example is presented to explain the effectiveness of this newly established quadratic filtering algorithm.

关键词： filtering quadratic bounds

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HISTORIAE, history of socio-cultural transformation as linguistic data science. A humanities use case 3

HISTORIAE, history of socio-cultural transformation as lingu...

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3rd Conference on Language, Data and Knowledge, LDK 2021

作者： Armaselu, Florentina Apostol, Elena-Simona Khan, Anas Fahad Liebeskind, Chaya McGillivray, Barbara Truică, Ciprian-Octavian Oleškevičiene, Giedre Valūnaite University of Luxembourg Luxembourg Department of Computer Science and Engineering Faculty of Automatic Control and Computer University Politehnica of Bucharest Romania Institute for Computational Linguistics «A. Zampolli» National Research Council of Italy Pisa Italy Department of Computer Science Jerusalem College of Technology Israel Theoretical and Applied Linguistics Faculty of Modern and Medieval Languages and Linguistics University of Cambridge United Kingdom The Alan Turing Institute London United Kingdom Department of Computer Science and Engineering Faculty of Automatic Control and ComputerUniversity Politehnica of Bucharest Romania Institute of Humanities Mykolas Romeris University Vilnius Lithuania

ISBN: (纸本)9783959771993

The paper proposes an interdisciplinary approach including methods from disciplines such as history of concepts, linguistics, natural language processing (NLP) and Semantic Web, to create a comparative framework for detecting semantic change in multilingual historical corpora and generating diachronic ontologies as linguistic linked open data (LLOD). Initiated as a use case (UC4.2.1) within the COST Action Nexus Linguarum, European network for Web-centred linguistic data science, the study will explore emerging trends in knowledge extraction, analysis and representation from linguistic data science, and apply the devised methodology to datasets in the humanities to trace the evolution of concepts from the domain of socio-cultural transformation. The paper will describe the main elements of the methodological framework and preliminary planning of the intended workflow. © Florentina Armaselu, Elena-Simona Apostol, Anas Fahad Khan, Chaya Liebeskind, Barbara McGillivray, Ciprian-Octavian Truică, and Giedre Valūnaite Oleškevičien e;licensed under Creative Commons License CC-BY 4.0

关键词： Linguistics

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Path Planning Algorithm for Multiple UAVs Based on Artificial Potential Field

Path Planning Algorithm for Multiple UAVs Based on Artificia...

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IEEE Joint International Information Technology and Artificial Intelligence Conference (ITAIC)

作者： Chongde Ren Jinchao Chen Chenglie Du Wenquan Yu School of Software Northwestern Polytechnical University Xi'an China Department of Computer Science Northwestern Polytechnical University Xi'an China Department of Land Unmanned System Research and Development North Automatic Control Technology Research Institute Taiyuan China

Due to the lower cost and higher maneuverability, unmanned aerial vehicles (UAVs) have found extensive use in both the civilian and military worlds. Path planning, as a crucial problem in the process of UAVs flight, aims to determine the optimal routes for multiple UAVs from various starting points to a single destination. However, because of the involvement of complex conditional constraints, path planning becomes a highly challenging problem. The path planning problem involving numerous UAVs is examined in this research, and a SAAPF-MADDPG algorithm based on Artificial Potential Field (APF) is suggested as a solution. First, a SA-greedy algorithm that can change the probability of random exploration by agents based on the number of steps and successful rounds to prevent UAVs from getting trapped in a local optimum. Then, we design complex reward functions based on APF to guide UAVs to destination faster. Finally, SAAPF-MADDPG is evaluated against the MADDPG, DDPG, and MATD3 methods in simulation scenarios to confirm its efficacy.

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control of Continuous, High Purity Distillation Column Using Nonlinear Adaptive control Based on Robust Fixed Point Transformation Phenomena

Control of Continuous, High Purity Distillation Column Using...

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International Conference on Computational Cybernetics (ICCC)

作者： Marianna Dimitrova Kucarov Miklos Kozlovszky Doctoral School of Applied Informatics and Applied Mathematics BioTech Óbuda University Budapest Hungary John von Neumann Faculty of Informatics Óbuda University Bp Hun Medical Device Research Group LPDS Institute for Computer Science and Control (SZTAKI) Hungarian Research Network (HUN-REN)

ISBN: (数字)9798350350159

ISBN: (纸本)9798350350166

A nonlinear feedback control scheme for continuous, binary, tray, multiple-product, and high-purity distillation columns has been proposed. Vapor-liquid equilibrium curve of raw material is presented. Physical properties, kinematics, and dynamics of the distillation column are also calculated. Automatic process control technique is designed for the composition of product in order to follow a desired trajectory. controlling is solved with a novel nonlinear, adaptive approach, called Robust Fixed Point Transformation (RFPT) as well as with the classical, linear PID controller so as to compare their performance. RFPT provides a remedy to disturbances that occur at linear process control.

关键词： Deformable models Trajectory tracking Distillation equipment Simulation Process control Kinematics Mathematical models

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Integration of Robust control with Reinforcement Learning for Safe Autonomous Vehicle Motion

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IFAC-PapersOnLine 2023年第2期56卷 1101-1106页

作者： Attila Lelkó Balázs Németh Dániel Fényes Péter Gáspár Institute for Computer Science and Control (SZTAKI) Eötvös Loránd Research Network (ELKH) 13-17. Kende u. H-1111 Budapest Hungary Department of Control for Transportation and Vehicle Systems Budapest University of Technology and Economics 2 Stoczek u. H-1111 Budapest Hungary

This paper presents a control design framework for the integration of robust control and reinforcement learning-based (RL) control agent. The proposed integration method is applied for motion control of autonomous road vehicles, providing safe motion. In the integrated motion control, longitudinal and lateral dynamics are incorporated. The high-performance motion of the vehicle, e.g., high-velocity motion, path following, and reduction of lateral acceleration, through the RL-based control agent is achieved. The training through Proximal Policy Optimization during episodes is performed. Safe motion with guaranteed performances, i.e., keeping limits on lateral error, through the robust control and the supervisor is achieved. The robust control is designed through the H ∞ method, and in the supervisor, a constrained quadratic programming task is performed. As a result, lateral and longitudinal control inputs of the vehicle are calculated by the integrated control system. The effectiveness of the proposed control method using simulation scenarios and test scenarios on a small-scaled test vehicle is illustrated.

关键词： Adaptive and robust control of automotive systems Autonomous vehicles

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Topology-Aware 3D Gaussian Splatting: Leveraging Persistent Homology for Optimized Structural Integrity

arXiv

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arXiv 2024年

作者： Shen, Tianqi Liu, Shaohua Feng, Jiaqi Ma, Ziye An, Ning Department of Computer Science City University of Hong Kong Hong Kong Image Processing Center Beihang University China Shen Yuan Honors College Beihang University China Research Institute of Mine Artificial Intelligence China Coal Research Institute China State Key Laboratory of Intelligent Coal Mining and Strata Control China

Gaussian Splatting (GS) has emerged as a crucial technique for representing discrete volumetric radiance fields. It leverages unique parametrization to mitigate computational demands in scene optimization. This work introduces Topology-Aware 3D Gaussian Splatting (Topology-GS), which addresses two key limitations in current approaches: compromised pixel-level structural integrity due to incomplete initial geometric coverage, and inadequate feature-level integrity from insufficient topological constraints during optimization. To overcome these limitations, Topology-GS incorporates a novel interpolation strategy, Local Persistent Voronoi Interpolation (LPVI), and a topology-focused regularization term based on persistent barcodes, named PersLoss. LPVI utilizes persistent homology to guide adaptive interpolation, enhancing point coverage in low-curvature areas while preserving topological structure. PersLoss aligns the visual perceptual similarity of rendered images with ground truth by constraining distances between their topological features. Comprehensive experiments on three novel-view synthesis benchmarks demonstrate that Topology-GS outperforms existing methods in terms of PSNR, SSIM, and LPIPS metrics, while maintaining efficient memory usage. This study pioneers the integration of topology with 3D-GS, laying the groundwork for future research in this area. Copyright © 2024, The Authors. All rights reserved.

关键词： Interpolation

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An Efficient GPU-based Implementation for Noise Robust Sound Source Localization

arXiv

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arXiv 2025年

作者： Lin, Zirui Takigahira, Masayuki Terakado, Naoya Gulzar, Haris Busto, Monikka Roslianna Eda, Takeharu Itoyama, Katsutoshi Nakadai, Kazuhiro Amano, Hideharu Dept. of Systems and Control Engineering School of Engineering Tokyo Institute of Technology Tokyo Japan Honda Research Institute Japan Co. Ltd. Saitama Japan NTT Software Innovation Center Tokyo Japan Dept. of Information and Computer Science Keio University Kanagawa Japan

Robot audition, encompassing Sound Source Localization (SSL), Sound Source Separation (SSS), and Automatic Speech Recognition (ASR), enables robots and smart devices to acquire auditory capabilities similar to human hearing. Despite their wide applicability, processing multi-channel audio signals from microphone arrays in SSL involves computationally intensive matrix operations, which can hinder efficient deployment on Central Processing Units (CPUs), particularly in embedded systems with limited CPU resources. This paper introduces a GPU-based implementation of SSL for robot audition, utilizing the Generalized Singular Value Decomposition-based Multiple Signal Classification (GSVD-MUSIC), a noise-robust algorithm, within the HARK platform, an open-source software suite. For a 60-channel microphone array, the proposed implementation achieves significant performance improvements. On the Jetson AGX Orin, an embedded device powered by an NVIDIA GPU and ARM®Cortex™-A78AE v8.2 64-bit CPUs, we observe speedups of 4645.1× for GSVD calculations and 8.8× for the SSL module, while speedups of 2223.4× for GSVD calculation and 8.95× for the entire SSL module on a server configured with an NVIDIA A100 GPU and AMD EPYC™ 7352 CPUs, making real-time processing feasible for large-scale microphone arrays and providing ample capacity for real-time processing of potential subsequent machine learning or deep learning tasks. © 2025, CC BY-NC-ND.

关键词： Acoustic generators

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Break-Up of the Taylor Bubble

SSRN

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SSRN 2024年

作者： Sharaborin, Evgenii L. Rogozin, Oleg A. Kasimov, Aslan R. Skolkovo Institute of Science and Technology Russia Skolkovo Institute of Science and Technology Bolshoy Boulevard 30 bld. 1 Moscow121205 Russia Federal Research Center "Computer Science and Control" Russian Academy of Science Vavilov str. 44 bld. 2 Moscow119333 Russia Sechenov University Trubetskaya str. 8 bld. 2 Moscow119991 Russia

High-resolution direct numerical simulation is used to study the motion of a Taylor bubble in a cylindrical microtube under conditions that lead to the bubble break-up. It is observed that the initial bubble elongates and deforms such that its front part retains a bullet-like shape while its back part forms a skirt shape. Subsequently, the carrier fluid surrounded by the skirt penetrates into the bubble forming a finger that transitions into a bulb shape. The bulb then increases in size until it touches the near-wall liquid film and as a result splits the bubble into two comparable daughter bubbles. Various dynamical features of this break-up process are explored and described in detail. © 2024, The Authors. All rights reserved.

关键词： Bubble formation

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Some Remarks on the Issue of Second-order Optimality Conditions in control Problems with Mixed Constraints

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IFAC-PapersOnLine 2022年第16期55卷 231-235页

作者： Aram V. Arutyunov Dmitry Yu. Karamzin Fernando Lobo Pereira V.A. Trapeznikov Institute of Control Sciences of Russian Academy of Sciences Moscow Federal Research Center “Computer Science and Control” of Russian Academy of Sciences Electrical Engineering Department of Engineering Faculty University of Porto Portugal

A smooth optimal control problem with mixed constraints is considered. Under the normality assumption, a proof of second-order necessary optimality conditions based on the Robinson stability theorem is provided. The main feature of the obtained result is that the local regularity with respect to the mixed constraints is assumed, that is, a regularity in an ε-tube along the minimizer, but not the conventional global regularity hypothesis. This impacts the maximum condition. Therefore, the normal set of Lagrange multipliers fulfills the Legendre-Clebsch condition and the maximum principle. At the same time, the maximum condition is modified since, now, the maximum is taken over a reduced feasible set. Furthermore, the case of abnormal minimizers is considered. The same type of reduced maximum condition is obtained along with a refined Legendre-Clebsch condition which is meaningful in the abnormal case.

关键词： Optimal control Nonlinear control Maximum principle Mixed constraints Normal abnormal minimizers

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