This paper deals with a number of parallel LMS family algorithms in the context of their use in the acoustic echo cancellation. The most complex parts of the LMS-based algorithms were determined and parallelized. A nu...
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control of robot locomotion profits from the use of pre-planned trajectories. This paper presents a way to generalize globally optimal and dynamically consistent trajectories for cyclic bipedal walking. A small task-s...
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control of robot locomotion profits from the use of pre-planned trajectories. This paper presents a way to generalize globally optimal and dynamically consistent trajectories for cyclic bipedal walking. A small task-space consisting of stride-length and step time is mapped to spline parameters which fully define the optimal joint space motion. The paper presents the impact of different machine learning algorithms for velocity and torque optimal trajectories with respect to optimality and feasibility. To demonstrate the usefulness of the trajectories, a control approach is presented that allows general walking including transitions between points in the task-space.
This paper deal with the motion planning of a wheeled, skid steering platform, with four independently actuated wheels that slip laterally and longitudinally. Two methods of motion planning are proposed: the Endogenou...
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The article describes skid steering mobile platform, which is a nonholonomic robot. For controlling such a robot artificial force method has been used. This method assumes that the number of control inputs is the same...
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The advantages of Variable Step Search algorithm - a simple local search-based method of MLP training is that it does not require differentiable error functions, has better convergence properties than backpropagation ...
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Scientific competitions are becoming more common in many research areas of artificial intelligence and robotics, since they provide a shared testbed for comparing different solutions and enable the exchange of researc...
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Scientific competitions are becoming more common in many research areas of artificial intelligence and robotics, since they provide a shared testbed for comparing different solutions and enable the exchange of research results. Moreover, they are interesting for general audiences and industries. Currently, many major research areas in artificial intelligence and robotics are organizing multiple-year competitions that are typically associated with scientific conferences. One important aspect of such competitions is that they are organized for many years. This introduces a temporal evolution that is interesting to analyze. However, the problem of evaluating a competition over many years remains unaddressed. We believe that this issue is critical to properly fuel changes over the years and measure the results of these decisions. Therefore, this article focuses on the analysis and the results of evolving competitions. In this article, we present the [email protected] competition, which is the largest worldwide competition for domestic service robots, and evaluate its progress over the past seven years. We show how the definition of a proper scoring system allows for desired functionalities to be related to tasks and how the resulting analysis fuels subsequent changes to achieve general and robust solutions implemented by the teams. Our results show not only the steadily increasing complexity of the tasks that [email protected] robots can solve but also the increased performance for all of the functionalities addressed in the competition. We believe that the methodology used in [email protected] for evaluating competition advances and for stimulating changes can be applied and extended to other robotic competitions as well as to multi-year research projects involving Artificial Intelligence and robotics.
Evolutionary inspired heuristics suffer from a premature convergence at local optima and, consequently, a population diversity loss. Thus, breaking out of a local optimum trap and crossing saddles between optima in mu...
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ISBN:
(纸本)9789897580529
Evolutionary inspired heuristics suffer from a premature convergence at local optima and, consequently, a population diversity loss. Thus, breaking out of a local optimum trap and crossing saddles between optima in multimodal and multidimensional search spaces is an important issue in an evolutionary optimization algorithm. In this paper, an impatience mechanism coupled with a phenotypic model of evolution is studied. This mechanism diversifies a population and facilitates escaping from a local optima trap. An impatient population polarizes itself and evolves as a dipole centered around an averaged individual. The operator was modified by supplying it with an extra knowledge about a currently found optimum. In the case, behavior of a population is quite different - a significant diversification is observed but the population is not polarized and evolves as a single cluster. Both mechanisms allow to cross saddle relatively fast for a wide range of parameters of a bimodal multidimensional fitness function.
Dependability and safety in European Rail Traffic Management System (ERTMS) level 3 are influenced by quality of train localisation and communication. In the paper, dependability and safety of European Train control S...
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ISBN:
(纸本)9783981688665
Dependability and safety in European Rail Traffic Management System (ERTMS) level 3 are influenced by quality of train localisation and communication. In the paper, dependability and safety of European Train control System (ETCS) communication for ERTMS level 3 is considered. In ERTMS level 3, traffic is controlled by so called moving block that is associated with the distance between subsequent trains. Relationship between probability of emergency train braking as a function of distance between subsequent trains is studied. In order to find this relationship, new analytic estimation is defined, and its accuracy is verified.
In this chapter we wrap up our literature investigation, pointing out the key focuses and requirements to be considered. We will go through our evaluations upon actuators, sensors, control systems and we will present ...
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