We propose a new method for free space detection and description for Advanced Driver Assistance Systems (ADAS) and autonomous vehicles. The detection is based on successive morphological image processing steps that ar...
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We propose a new method for free space detection and description for Advanced Driver Assistance Systems (ADAS) and autonomous vehicles. The detection is based on successive morphological image processing steps that are applied to an occupancy grid map-based environment representation acquired by an automotive radar sensor. The boundary of the found free space segment is traced and serves as a virtual measurement for a time-variant Kalman Filter in order to estimate and track the control points of a two-dimensional B-spline closed free space contour over time. In contrast to existing free space detection methods, the proposed solution incorporates knowledge about the vehicle's dimensions and does not exclude free space that is not directly in the line of sight, but mapped beforehand, as well as free space behind obstacles. Furthermore, the algorithm shows advantages in terms of an intuitive control over spatial and temporal smoothness of the solution as well as an inherent robustness due to model-based filtering. Moreover, the control points of the B-spline curve are proposed as a new low-dimensional representation of drivable free space of arbitrary shape. The effectiveness of the algorithm is demonstrated in real traffic scenarios.
In this paper, we propose two variants of adaptive state space controllers for attitude stabilization and self-tuning of a four-rotor aerial robot, a quadrotor. First of all, the use of a Model Identification Adaptive...
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In this paper, we propose two variants of adaptive state space controllers for attitude stabilization and self-tuning of a four-rotor aerial robot, a quadrotor. First of all, the use of a Model Identification Adaptive controller (MIAC) is proposed in terms of combining a recursive least-squares estimator with exponential forgetting with an integral discrete-time state space controller. Furthermore, a continuous-time Model Reference Adaptive control (MRAC) scheme based on Lyapunov theory is applied to the simplified dynamics of a quadrotor, which guarantees global asymptotic stability for at least linear overall systems. The effectiveness of the suggested adaptive methods is demonstrated in simulations with a quaternion-based nonlinear dynamic model of a quadrotor derived in this work. The results are compared to a designed nonadaptive integral state space controller.
Neurophysiological findings suggest that the visual cortex of mammals contains neural populations that are sensitive to specific motion patterns. In this paper, we present a new method to learn such patterns in an uns...
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In this article a distributed control law for the full- and partial-state synchronization of possibly exponentially unstable linear heterogeneous multi-agent systems is presented. The design is based on the estimation...
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In this article a global method for master-slave synchronization of nonlinear systems is provided. Based on a diffeomorphic transformation of the original dynamics, a reduced observer is designed such that the nonline...
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We propose a new set point tracking controller for plants subject to simultaneous input amplitude and rate constraints. Short settling times are achieved by allowing the controller to saturate. The tracking controller...
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This paper proposes a local and - in contrast to existing synthesis approaches - non-iterative and performance-oriented design method for linear, full-order, mismatch-based anti-windup compensators which is applicable...
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This paper presents fault detection, fault diagnosis, the fault-tolerant control of an electro-hydraulic servo axes with a duplex-valve-system. The fault detection is based on parity equations and is load independent....
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This paper proposes a new design method for full-order mismatch-based anti-windup compensators applicable to SISO systems. It is based on multiplier theory and path following. In contrast to available approaches the n...
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Abstract In this article a global method for master-slave synchronization of nonlinear systems is provided. Based on a diffeomorphic transformation of the original dynamics, a reduced observer is designed such that th...
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Abstract In this article a global method for master-slave synchronization of nonlinear systems is provided. Based on a diffeomorphic transformation of the original dynamics, a reduced observer is designed such that the nonlinear state feedback law is independent of the inertial frame. Generally, the method requires non trivial computations but leads to global convergence results for the invariant tracking error. We illustrate the design procedure in detail for a master-slave synchronization of a bacterial growth model, which may escape to infinity in finite time.
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