This paper presents an improved active disturbance rejection control scheme (IFO-ADRC) with an improved fractional-order extended state observer (IFO-ESO). The structural information of the system is utilized in IFO-E...
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The event-triggered control with intermittent output can reduce the communication burden between the controller and plant side over the network. It has been exploited for adaptive output feedback control of uncertain ...
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Developing an efficient automatic navigation system for mobile robots is challenging in the strange scenarios where robots can only observe the environment of the surrounding limited *** other distributed automatic na...
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ISBN:
(数字)9789887581536
ISBN:
(纸本)9781665482561
Developing an efficient automatic navigation system for mobile robots is challenging in the strange scenarios where robots can only observe the environment of the surrounding limited *** other distributed automatic navigation systems exist,they often require extracting semantic information to calculate navigation action,which requires extra modules to provide perceptual information and is not *** propose an end-to-end automatic navigation system based on the reinforcement learning *** particular,the raw 3 D LiDAR data is used to directly map an efficient navigation *** design a novel dense reward function to handle the reward sparsity issue and provide a graphical representation method to enable the efficient feature learning from the raw 3 D LiDAR data in our navigation *** addition,an imitation learning based policy initialization is introduced before the subsequent reinforcement learning,which increases the learning efficiency and,in the meantime,still encouraging the robot to explore all the potential states to achieve advanced performance than the imitated *** navigation model is trained in the Webots environment and the experimental results show that our model has efficient and flexible navigation performance in complex *** importantly,trained model can be easily extended to unfamiliar environments.
An important class of radiometric degradations we are faced with often in practice is image blurring. Special attention is paid to the recognition of the blurred image by moment invariant approach. Some important rule...
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This paper proposes a fast and robust algorithm for classification and recognition of ships based on the Principal Component Analysis (PCA) method. The three-dimensional ship models are achieved by modeling software o...
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This paper proposes a fast and robust algorithm for classification and recognition of ships based on the Principal Component Analysis (PCA) method. The three-dimensional ship models are achieved by modeling software of MultiGen, and then they are projected by Vega simulating software for two-dimensional ship silhouettes. The PCA method as against the Back-Propagation (BP) neural network method for simulated ship recognition using training and testing experiments, we can see that there is a sharp contrast between them. Some recognition results from simulated data are presented, the correct recognition rate of PCA method improved rapidly for each of the five ship types than that of neural network method, the number of times a ship type is recognized as one of the other ships is reduced greatly.
In this work, we study the classical distributed optimization problem over digraphs, where the objective function is a sum of smooth local functions. Inspired by the implicit tracking mechanism proposed in our earlier...
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Facial expression recognition (FER) is challenging, when transiting from the laboratory to in-the-wild situations. In this paper, we present a general framework for the Learning from Synthetic Data Challenge in the 4t...
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Quadrotors play a significant role in our lives and are transforming our *** cable-suspended loads is an unavoidable quadrotor application trend and a hot research topic in the control ***,the load swing and unpredict...
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Quadrotors play a significant role in our lives and are transforming our *** cable-suspended loads is an unavoidable quadrotor application trend and a hot research topic in the control ***,the load swing and unpredictability pose significant challenges to the quadrotor's *** this paper,an anti-swing controller with an inner-outer control strategy for the quadrotor-slung load transportation system is *** facilitate the controller design,the outer position dynamics are restructured in the form of ***,a virtual controller is created to force the underactuated states to the dynamic surface to ensure the position subsystem's *** improve robustness,an adaptive law is used to eliminate the effects of uncertain cable ***,a dynamic surface controller for the inner attitude subsystem is presented to drive the actual force to the virtual *** is demonstrated that the control strategy can stabilize the quadrotor despite mass and cable length *** results are provided to demonstrate the efficacy and durability of the proposed method.
Image mosaic technology is an important research field of image processing and a research focus on the computer vision and computer graphics. The traditional method is to select the feature points by manual selection ...
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Image matting aims to estimate the opacity of foreground objects in order to accurately extract them from the background. Existing methods are only concerned with RGB features to obtain alpha mattes, limiting the perc...
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