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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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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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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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Human silhouette volume reconstruction using a gravity-based virtual camera network

Human silhouette volume reconstruction using a gravity-based...

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International Conference on Information Fusion

作者： Hadi Aliakbarpour Jorge Dias Institute of Systems and Robotics Electrical and Computer Engineering Department University of Coimbra Portugal

The article represents a method to perform the Shape From Silhouette (SFS) of human, based on gravity sensing. A network of cameras is used to observe the scene. The extrinsic parameters among the cameras are initially unknown. An IMU is rigidly coupled to each camera in order to provide gravity and magnetic data. By applying a data fusion between each camera and its coupled IMU, it becomes possible to consider a downward-looking virtual camera for each camera within the network. Then extrinsic parameters among virtual cameras are estimated using the heights of two 3D points with respect to one camera within the network. Registered 2D points on the image plane of each camera is reprojected to its virtual camera image plane, using the concept of infinite homography. Such a virtual image plane is horizontal with a normal parallel to the gravity. The 2D points from the virtual image planes are back-projected onto the 3D space in order to make conic volumes of the observed object. From intersection of the created conic volumes from all cameras, the silhouette volume of the object is obtained. The experimental results validate both feasibility and effectiveness of the proposed method.

关键词： Cameras Three dimensional displays Calibration Image reconstruction Gravity Transmission line matrix methods Robot vision systems

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A cascade classifier applied in pedestrian detection using laser and image-based features

A cascade classifier applied in pedestrian detection using l...

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International Conference on Intelligent Transportation

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

In this paper we present a multistage method applied in pedestrian detection using information from a LIDAR and a monocular-camera mounted on an electric vehicle driving in urban scenarios. The proposed method is a cascade of classifiers trained in two subsets of features, one with laser-based features and the other with a set of image-based features. A specific training approach was developed to adjust the cascade stages in order to enhance the classification performance. The proposed method differs from the conventional cascade regarding the way the selected samples are propagated through the cascade. Thus, the subsequent stages of the proposed cascade receive both negatives and positives from previous ones, relying on a decision margin process. Experiments were conducted in off-line mode, for a set of single component classifiers and for the proposed cascade technique. The results are compared in terms of classification performance metrics and ROC curves.

关键词： Feature extraction Training Quantum cascade lasers Image segmentation Artificial neural networks Laser radar

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Probabilistic LMA-based classification of human behaviour understanding using Power Spectrum technique

Probabilistic LMA-based classification of human behaviour un...

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International Conference on Information Fusion

作者： Kamrad Khoshhal Hadi Aliakbarpour João Quintas Paulo Drews Jorge Dias Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal

This paper proposes a new approach for the Power Spectrum (PS)-based feature extraction applied to probabilistic Laban Movement Analysis (LMA), for the sake of human behaviour understanding. A Bayesian network is presented to understand human action and behaviour based on 3D spatial data and using the LMA concept which is a known human movement descriptor. We have two steps for the classification process. The first step is estimating LMA parameters which are built to describe human motion situation by using some low level features. Then by having these parameters, it is possible to classify different human actions and behaviours. Here, a sample of using 3D acceleration data of six body parts to obtain some LMA parameters and understand some performed actions by human is shown. A new approach is applied to extract features from a signal data such as acceleration using the PS technique to achieve some of LMA parameters. A number of actions are defined, then a Bayesian network is used in learning and classification process. The experimental results prove that the proposed method is able to classify actions.

关键词： Humans Feature extraction Bayesian methods Frequency domain analysis Acceleration Three dimensional displays Legged locomotion

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Player/Stage simulation of olfactory experiments

Player/Stage simulation of olfactory experiments

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2010 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Gonçalo Cabrita Pedro Sousa Lino Marques Department of Electrical and Computer Engineering Institute of Systems and Robotics University of Coimbra Coimbra Portugal

This paper describes a Player/Stage simulation framework for mobile robot olfactory experiments. The PlumeSim framework simulates odor transport in the environment, as well as olfactory detection systems. The odor transport can be based on analytical theoretical models, data generated by dedicated computational fluid dynamics (CFD) software packages, or data acquired in a real environment. The framework is validated through comparison of the results of simulated and real mobile robot olfactory experiments.

关键词： Mathematical model Equations Computational fluid dynamics Atmospheric modeling Robots Software Chemicals

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Platooning of autonomous vehicles with intervehicle communications in SUMO traffic simulator

Platooning of autonomous vehicles with intervehicle communic...

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International Conference on Intelligent Transportation

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

An approach to increase road capacity consists in making vehicles move much closer to each other, i.e. using platoons, and to avoid the constant stop-and-go in urban traffic. This paper addresses the studies of new models to allow the research of cooperative and autonomous communication-enabled vehicles, with platooning capabilities, and the addition of new features in SUMO (Simulation for Urban MObility) to allow the simulation of those models. Simulations results of vehicle platoons using constant spacing instead of the more common constant time headway, with intervehicle communications, are reported in the paper. The platoon leaders are controlled by an external application and the simulation platform works at the subsecond level.

关键词： Vehicles Lead Acceleration Roads Mobile robots Stability analysis Humans

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A CONVEX RELAXATION FOR APPROXIMATE MAXIMUM-LIKELIHOOD 2D SOURCE LOCALIZATION FROM RANGE MEASUREMENTS

A CONVEX RELAXATION FOR APPROXIMATE MAXIMUM-LIKELIHOOD 2D SO...

引用

IEEE International Conference on Acoustics, Speech, and Signal Processing

作者： Pinar Oguz-Ekim Joao Gomes Joao Xavier Paulo Oliveira Institute for Systems and Robotics-Instituto Superior Tecnico Department of Electrical and Computer Engineering Lisboa Portugal

ISBN: (纸本)9781424442959

This paper addresses the problem of locating a single source from noisy range measurements in wireless sensor networks. An approximate solution to the maximum likelihood location estimation problem is proposed, by redefining the problem in the complex plane and relaxing the minimization problem into semidefinite programming form. Existing methods solve the source localization problem either by minimizing the maximum likelihood function iteratively or exploiting other semidefinite programming relaxations. In addition, using squared range measurements, exact and approximate least squares solutions can be calculated. Our relaxation for source localization in the complex plane (SLCP) is motivated by the near-convexity of the objective function and constraints in the complex formulation of the original (non-relaxed) problem. Simulation results indicate that the SLCP algorithm outperforms existing methods in terms of accuracy, particularly in the presence of outliers and when the number of anchors is larger than three.

关键词： Single source localization maximum likelihood estimation nonconvex and nonsmooth minimization semidefinite programming maximum likelihood estimation Position measurement Ranging measurements Complex Plane maximum likelihood relaxation Boat anchors outliers Objective function Wireless sensor networks

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Fault detection and isolation of an aircraft using set-valued observers

Fault detection and isolation of an aircraft using set-value...

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18th IFAC Symposium on Automatic Control in Aerospace, ACA 2010

作者： Rosa, Paulo Silvestre, Carlos Shamma, Jeff S. Athans, Michael Institute for Systems and Robotics Instituto Superior Tecnico Av. Rovisco Pais 1 1049-001 Lisboa Portugal Georgia Institute of Technology School of Electrical and Computer Engineering Atlanta GA United States Department of EECS MIT United States

ISBN: (纸本)9783902661968

This paper describes an application of a new fault detection and isolation (FDI) technique based on set-valued observers (SVOs) to a linear parameter varying (LPV) longitudinal aircraft dynamic model. The FDI strategy adopted herein computes and uses the set-valued estimates of the SVOs to eliminate models of the plant that are not compatible with the set of observations provided by the aircraft sensor suite and actuation data. The design of the SVOs takes into account model uncertainty and disturbances, thus avoiding false alarms due to such perturbations. The behavior of the proposed solution is assessed in simulation, by deliberately generating hard and soft sensor/actuator faults. The results show that the faults take, in general, only a few iterations to be detected and isolated, therefore paving the way for the use of the proposed methodology in practical applications.

关键词： Linear systems

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