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检索条件"机构=ISR - Institute of Systems and Robotics and the Department of Electrical and Computer Engineering"

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A Computationally Efficient Implementation of Fictitious Play in a Distributed Setting

A Computationally Efficient Implementation of Fictitious Pla...

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European Signal Processing Conference

作者： BRIAN SWENSON SOUMMYA KAR JOAO XAVIER Department of Electrical and Computer Engineering Carnegie Mellon University Institute for Systems and Robotics (ISR/IST) LARSyS Instituto Superior Tecnico University of Lisbon

ISBN: (纸本)9781479988518

The paper deals with distributed learning of Nash equilibria in games with a large number of players. The classical fictitious play (FP) algorithm is impractical in large games due to demanding communication requirements and high computational complexity. A variant of FP is presented that aims to mitigate both issues. Complexity is mitigated by use of a computationally efficient Monte-Carlo based best response rule. Demanding communication problems are mitigated by implementing the algorithm in a network-based distributed setting, in which player-to-player communication is restricted to local subsets of neighboring players as determined by a (possibly sparse, but connected) preassigned communication graph. Results are demonstrated via a simulation example.

关键词： Games Distributed Learning Fictitious Play Nash Equilibrium

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Optimal control on non-compact lie groups: A projection operator approach

Optimal control on non-compact lie groups: A projection oper...

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IEEE Conference on Decision and Control

作者： Alessandro Saccon John Hauser A. Pedro Aguiar Institute of Systems and Robotics (ISR) Instituto Superior Técnico Lisboa Portugal Department of Electrical and Computer Engineering University of Colorado Boulder USA

ISBN: (纸本)9781424477456

Many nonlinear systems of practical interest evolve on Lie groups or on manifolds acted upon by Lie groups. Examples range from aircraft and underwater vehicles to quantum mechanical systems. In this paper, we develop the mathematical machinery needed for projection operator based trajectory exploration and optimization (optimal control) for systems defined on non-compact Lie groups.

关键词： Trajectory Manifolds Digital TV Approximation methods Optimization Algebra Nonlinear systems

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Sensor fusion for skill transfer systems

Sensor fusion for skill transfer systems

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： R. Cortesao R. Koeppe Electrical Engineering Department Institute of Systems and Robotics (ISR) University of Coimbra Coimbra Portugal German AeroSpace Center (DLR) Institute for Robotics and Systems Dynamics Wessling Germany

Describes how to design a data fusion module for skill transfer purposes. The data fusion paradigm is addressed. It consists of two independent modules for optimal fusion and filtering. A new interpretation of the Kalman filter equations is done, to achieve a "model-free" equation capable of following arbitrary variables. An engineering approach is used to tune the parameters of interest for a certain task. The fusion algorithm presented is global, and could easily be extended to any arbitrary system. It was successfully tested in the institute of robotics and System Dynamics at the DLR.

关键词： Sensor fusion Robot sensing systems Humans Filtering Equations Vehicle dynamics Aerodynamics Sensor systems Intelligent robots Training data

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Exploiting LIDAR-based features on pedestrian detection in urban scenarios

Exploiting LIDAR-based features on pedestrian detection in u...

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International Conference on Intelligent Transportation

作者： Cristiano Premebida Oswaldo Ludwig Urbano Nunes Department of Electrical and Computer Engineering Institute of Systems of Systems and Robotics University of Coimbra Portugal

Reliable detection and classification of vulnerable road users constitute a critical issue on safety/protection systems for intelligent vehicles driving in urban zones. In this subject, most of the perception systems have LIDAR and/or radar as primary detection modules and vision-based systems for object classification. This work, on the other hand, presents a valuable analysis of pedestrian detection in urban scenario using exclusively LIDAR-based features. The aim is to explore how much information can be extracted from LIDAR sensors for pedestrian detection. Moreover, this study will be useful to compose multi-sensor based pedestrian detection systems using not only LIDAR but also vision sensors. Experimental results using our data set and a detailed classification performance analysis are presented, with comparisons among various classification techniques.

关键词： computer vision Radar detection Laser radar Road safety Vehicle detection Vehicle safety Protection Intelligent vehicles Object detection Data mining

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Distributed detection over time varying networks: Large deviations analysis

Distributed detection over time varying networks: Large devi...

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Annual Allerton Conference on Communication, Control, and Computing

作者： Dragana Bajović Dušan Jakovetić João Xavier Bruno Sinopoli José M. F. Moura The Institute for Systems and Robotics (ISR) Instituto Superior Técnico (IST) Lisbon Portugal The Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA Institute of Systems and Robotics (ISR) Instituto Superior Técnico Lisboa Portugal

We apply large deviations theory to study asymptotic performance of running consensus distributed detection in sensor networks. Running consensus is a stochastic approximation type algorithm, recently proposed. At each time step k, the state at each sensor is updated by a local averaging of the sensor's own state and the states of its neighbors (consensus) and by accounting for the new observations (innovation).We assume Gaussian, spatially correlated observations. We allow the underlying network be time varying, provided that the graph that collects the union of links that are online at least once over a finite time window is connected. This paper shows through large deviations that, under stated assumptions on the network connectivity and sensors' observations, the running consensus detection asymptotically approaches in performance the optimal centralized detection. That is, the Bayes probability of detection error (with the running consensus detector) decays exponentially to zero as k → ∞ at the Chernoff information rate-the best achievable rate of the asymptotically optimal centralized detector.

关键词： Detectors Data models Detection algorithms Approximation algorithms Testing Symmetric matrices Approximation methods

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Sensor-based globally asymptotically stable range-only simultaneous localization and mapping

Sensor-based globally asymptotically stable range-only simul...

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52nd IEEE Conference on Decision and Control, CDC 2013

作者： Lourenço, Pedro Batista, Pedro Oliveira, Paulo Silvestre, Carlos Philip Chen, C.L. Institute for Systems and Robotics Universidade de Lisboa Av. Rovisco Pais 1049-001 Lisboa Portugal Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau China

ISBN: (纸本)9781467357173

Range-only simultaneous localization and mapping is addressed in this paper, through the design, analysis, and experimental validation of a globally asymptotically stable (GAS) filter. A nonlinear sensor-based system is designed and its dynamics augmented so that the proposed formulation can be considered as linear time-varying for the purpose of observability analysis. This allows the establishment of observability results related to the original nonlinear system that naturally lead to the design of a Kalman filter with GAS error dynamics. The performance of the proposed algorithm is assessed resorting to a set of realistic simulations and to the results obtained from experimental tests. © 2013 IEEE.

关键词： Observability

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Computationally efficient learning in large-scale games: Sampled fictitious play revisited

Computationally efficient learning in large-scale games: Sam...

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Asilomar Conference on Signals, systems & computers

作者： Brian Swenson Soummya Kar João Xavier Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA Institute for Systems and Robotics (ISR/IST) Universidade de Lisboa Portugal

ISBN: (纸本)9781538639559

Fictitious Play (FP) is a popular algorithm known to achieve Nash equilibrium learning in certain large-scale games. However, for games with many players, the computational demands of the FP algorithm can be prohibitive. Sampled FP (SFP) is a variant of FP that mitigates computational demands via a Monte Carlo approach. While SFP does mitigate the complexity of FP, it can be shown that SFP still uses information in an inefficient manner. The paper generalizes the SFP convergence result and studies a stochastic-approximation-based variant that significantly reduces the complexity of SFP.

关键词： Games Convergence Monte Carlo methods Approximation algorithms Complexity theory Probability distribution Nash equilibrium

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Human-like ZMP trajectory reference in sagittal plane for a biped robot

Human-like ZMP trajectory reference in sagittal plane for a ...

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International Conference on Advanced robotics (ICAR)

作者： Joao P. Ferreira Manuel Crisostomo A. Paulo Coimbra Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Portugal

This paper introduces two new important issues to be considered in the design of the zero moment point (ZMP) reference trajectory for the sagittal plane balance control of an autonomous walking biped robot with an human-like gait. ZMP trajectory reference generation is very important in the design and balance control of the walking of a biped robot. ZMP reference generation algorithms based on the Linear Inverted Pendulum Model (LIPM) and moving ZMP references in the swing phase have already been proposed with the ZMP trajectory during the swing phase being designed moving along a symmetric trajectory relative to the center of the foot. It was verified experimentally that in the human gait the ZMP trajectory moves along the foot in a way that it is shifted forward relative to its center. To take this into account a shift parameter is then proposed to move forward the X ZMP trajectory reference during the swing phase. It was also verified experimentally that in the human gait the ZMP trajectory amplitude depends on the swing time. Its variation law has been determined experimentally and it was verified that this range decreases as the swing time increases, reducing to zero for a static gait. It is then proposed a parameter H to take into account this variation with the swing time of the gait. In order to evaluate and compare the performance of the X ZMP trajectory references and the natural movement two performance indexes are proposed.

关键词： Humanoid robots Legged locomotion Foot Humans Robot sensing systems Stability Control systems Kinematics Ground support Intelligent robots

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Context-aware pedestrian detection using LIDAR

Context-aware pedestrian detection using LIDAR

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IEEE Symposium on Intelligent Vehicle

作者： Luciano Oliveira Urbano Nunes Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Portugal

LIDAR-based object detection usually relies on geometric feature extraction, followed by a generative or discriminative classification approach. Instead, we propose to change the way of detecting objects using LIDAR by means of not only a featureless approach, but also inferring context-aware relations of object parts. For the first feature, a coarse-to-fine segmentation based on β-skeleton random graph is proposed; after segmentation, each segment is labeled, and scored by a Procrustes analysis. For the second feature, after defining the sub-segments of each object, a contextual analysis is in charge of assessing levels of intra-object or inter-object relationship, ultimately integrated into a Markov logic network. This way, we contribute with a system which deals with partial segmentation, also embodying contextual information. The system proof-of-concept is in pedestrian detection, but the rationale of the approach can be applied to any other object after the definition of its physical structure. The effectiveness of the proposed method was assessed over a data set gathered in challenging scenarios, with a significant gain in accuracy over a full segmentation version of the system.

关键词： Laser radar Object detection Torso Feature extraction Layout Logic Indoor environments Humans Intelligent transportation systems Intelligent sensors

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Retrieving and Exploiting Hand's Orientation in Tabletop Interaction

Retrieving and Exploiting Hand's Orientation in Tabletop Int...

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IEEE International Conference on Multimedia and Expo (ICME)

作者： Joao Carreira Paulo Peixoto Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Portugal

Large displays and hand gestures can be combined to augment the traditional desktop paradigm, allowing for multiple co-located users to interact simultaneously with a single computer, and therefore to engage in computer mediated collaboration activities. Here we introduce a novel technique for recovering the rotation of the hands, adapting a previously developed vision-based interface which we use to extract the users' bare hands from a video stream, taken over a tabletop display. Unlike previous tabletop input devices, ours is focused on capturing holistic hand cues. We argue that these cues, namely the posture and the rotation of the hand, can be an important complement to the fingertips' positions used in most systems of this kind, because we consider they can make the experience more natural and simple for the users. We also present a new interaction technique using these capabilities.

关键词： Mice Hardware computer displays Application software computer vision Shape Collaborative software Collaborative work Space technology Robots

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