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BEHAVIORAL BASED DECISION-MAKING SCHEME FOR COOPERATIVE CONNECTED AUTOMATED MOBILITY 9

BEHAVIORAL BASED DECISION-MAKING SCHEME FOR COOPERATIVE CONN...

引用

9th International Conference on Big Data Analytics, Data Mining and Computational Intelligence, BigDaCI 2024, the 10th International Conference on Connected Smart Cities, CSC 2024 and the 16th International Conference on e-Health, EH 2024, Part of the 18th Multi Conference on Computer Science and Information systems 2024, MCCSIS 2024

作者： Yagüe-Cuevas, David Marín-Plaza, Pablo Paz-Sesmero, María Sanchis, Araceli Intelligent Systems Lab. University Carlos III Madrid Spain Control Learning and Systems Optimization Group University Carlos III Madrid Spain

ISBN: (纸本)9789898704597

For some time now, the automotive industry has been undergoing major adjustments in recent years. Current technological solutions aimed to achieve an autonomous level 5 platform implement increasingly complex software and hardware systems. On the one hand, high-tech fields such as smart cities, the Internet of Things (IoT), and intelligent transportation systems (ITS) will benefit from connected and cooperative vehicles in the future. On the other hand, the more complex these systems are, the more knowledge, computing power and precision they require, and the more difficult they become to debug. There are still several challenges in the field of autonomous vehicles to address. From sensor perception to system localization, through arbitration and decision making. The goal of this paper is to address some of the problems regarding those latter fields by aggregating all the structured traffic knowledge extracted from the vehicle context. This knowledge will be used to deploy an effective decision-making system based on behaviors capable of choosing what to do when certain conditions are met. Actions such as changing its operation mode, selecting the most suitable trajectory or even adjusting the systems to the current situation for a better automated vehicle experience. © 2024 Big Data Analytics, Data Mining and Computational Intelligence. All Rights Reserved.

关键词： Automotive industry

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Adaptive H∞ RBFN tracking control for nonlinear systems with unknown hysteresis

Adaptive H∞ RBFN tracking control for nonlinear systems wit...

引用

Proceedings of the 2004 IEEE International Symposium on intelligent control - 2004 ISIC

作者： Tong, Zhao Tan, Yonghong Department of Automation Shanghai Jiaotong University Shanghai 20030 China Lab. of Intelligent Systems and Control Engineering Guilin University of Electronic Technology Guilin 541004 China

In this paper, a radial basis function network (RBFN) based adaptive H ∞ control scheme for nonlinear systems with unknown hysteresis nonlinearity is developed. This scheme applies the method of pseudo-control to the design of the control strategy for the systems with hysteresis that can not be measured directly. For the uncertainty of unknown hysteresis, H ∞ optimal control technique based on RBF neural network is utilized. Therefore, the tracking error of the system is suppressed to a prescribed small region. Finally, the effectiveness of the proposed control scheme is illustrated through simulation. © 2004 IEEE.

关键词： Tracking (position)

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Place representation in topological maps based on bubble space

Place representation in topological maps based on bubble spa...

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2012 IEEE International Conference on Robotics and Automation, ICRA 2012

作者： Erkent, Özgür Bozma, Işil Department of Electrical Engineering Intelligent Systems Lab. Boǧaziçi University Bebek Istanbul Turkey

ISBN: (纸本)9781467314039

Place representation is a key element in topological maps. This paper presents bubble space - a novel representation for "places" (nodes) in topological maps. The novelties of this model are two-fold: First, a mathematical formalism that defines bubble space is presented. This formalism extends previously proposed bubble memory to accommodate two new variables - varying robot pose and multiple features. Each bubble surface preserves the local S2-metric relations of the incoming sensory data from the robot's viewpoint. Secondly, for learning and recognition, bubble surfaces can be transformed into bubble descriptors that are compact and rotationally invariant, while being computable in an incremental manner. The proposed model is evaluated with support vector machine based decision making in two different settings: first with a mobile robot placed in a variety of locations and secondly using benchmark visual data. © 2012 IEEE.

关键词： Magnetic bubble memories

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Experimental studies of impedance force tracking control of a crack sealing robot for highway maintenance

Experimental studies of impedance force tracking control of ...

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作者： Jung, Seul Jeon, P.W. Intelligent Systems and Emotional Engineering Lab. Chungnam National University Daejeon 305-764 Korea Republic of

ISBN: (纸本)008045108X

This paper presents experimental studies of impedance force tracking control algorithm for a crack sealing robot. The robot is built to find and seal cracks on the pavement. Regulating contact force improves the performance of cleaning process before sealing. The proposed impedance force control method is robust to perform tasks under unknown surface condition such as stiffness and position of the environment. Experimental studies show that the robot regulates a desired force quite well on the curved unknown environment. Copyright © 2005 IFAC.

关键词： Robots

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Quantitative emergence - A refined approach based on divergence measures

Quantitative emergence - A refined approach based on diverge...

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2010 4th IEEE International Conference on Self-Adaptive and Self-Organizing systems, SASO 2010

作者： Fisch, Dominik Jänicke, Martin Sick, Bernhard Müller-Schloer, Christian Computationally Intelligent Systems Lab. University of Passau Passau Germany Institute of Systems Engineering Leibniz University Hanover Hanover Germany

ISBN: (纸本)9780769542324

The article addresses the phenomenon of emergence from a technical viewpoint. A technical system exhibits emergence when it has certain kinds of properties or qualities that are irreducible in the sense that they are not traceable to the constituent parts of the system. In particular, we show how emergence in technical systems can be detected and measured gradually using techniques from the field of probability theory and information theory. To detect or measure emergence we observe the system and extract characteristic attributes from those observations. As an extension of earlier work in the field, we propose emergence measures that are well-suited for continuous attributes (or hybrid attribute sets) using either non-parametric or model-based probability density estimation techniques. We also replace the known entropy-based emergence measures by divergence measures for probability densities (e.g., the Kullback-Leibler divergence or the Hellinger distance). We discuss advantages and drawbacks of these measures by means of some simulation experiments using artificial data sets and a real-world data set from the field of intrusion detection. © 2010 IEEE.

关键词： Intrusion detection

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A Distributed Algorithm for Large-Scale Multi-Agent MINLPs 63

A Distributed Algorithm for Large-Scale Multi-Agent MINLPs

引用

63rd IEEE Conference on Decision and control, CDC 2024

作者： Dong, Sheng Xia, Weiguo Dalian University of Technology Key Lab. of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education School of Control Science and Engineering China

ISBN: (纸本)9798350316339

In this paper, we focus on the optimization of large-scale multi-agent systems, where agents collab.ratively optimize the sum of local objective functions through their own continuous and/or discrete decision variables, subject to global coupling constraints and local constraints. The resulting Mixed-Integer Nonlinear Programmings (MINLPs) are NP-hard, non-convex, and large-scale. Therefore, this paper aims to design distributed algorithms to find feasible suboptimal solutions with a guaranteed bound. To this end, considering dual decomposition as an effective method to decompose large-scale constraint-coupled optimization problems, we first show, based on the convexification effects of large-scale MINLPs, that the primal solutions from the dual are near-optimal under certain conditions. This expands recent results in Mixed-Integer Linear Programmings (MILPs) to the nonlinear case but requires additional efforts on the proof. Utilizing this result to tighten the coupling constraints, we develop a fully distributed algorithm for the tightened problem, based on dual decomposition and consensus protocols. The algorithm is guaranteed to provide feasible solutions for the original MINLP. Moreover, asymptotic suboptimality bounds are established for the obtained solution. Finally, the efficacy of the method is verified through numerical simulations. © 2024 IEEE.

关键词： Mixed-integer linear programming

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An Expressed and Private Opinion Model on Influence Networks 2

An Expressed and Private Opinion Model on Influence Networks

引用

2nd International Conference on Industrial Artificial Intelligence, IAI 2020

作者： Xia, Weiguo Liang, Hong Key Lab. of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education School of Control Science and Engineering Dalian University of Technology China

ISBN: (数字)9781728182162

ISBN: (纸本)9781728182162

This paper studies the evolution of an expressed and private opinion dynamics model with asynchronous updating. It is shown that under some mild connectivity and individual activation conditions, the expressed and private opinions of all individuals in the network converge to a common value exponentially fast when the susceptibility to influence of all individuals is equal to one. A numerical example verifies the theoretical result. © 2020 IEEE.

关键词： Social networking (online) Sociology Numerical models Ions Heuristic algorithms Convergence Statistics

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TCP retransmission timer adjustment mechanism using model-based RTT predictor

TCP retransmission timer adjustment mechanism using model-ba...

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2004 5th Asian control Conference

作者： Haeri, M. Rad, A.H. Mohsenian Advance Control Systems Lab. Electrical Engineering Department Sharif University of Technology Tehran Iran

ISBN: (纸本)0780388739

Transmission control Protocol (TCP) uses multiple timers to do its work. The most important of these is the retransmission timer. In this paper, the TCP retransmission timer adjustment mechanism is approached from a system point of view and a new mechanism is proposed. A simple recursive system identification algorithm is used to capture both time variant and time invariant Internet behavior. Also a dynamic model-based Round-Trip Time (RTT) predictor was provided. Based on network simulation and real Internet data collection, it was observed that when the retransmission timer is adjusted by the proposed predictor instead of the traditional RTT estimator, performance increased significantly.

关键词： Network protocols

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Who moved?! An investigation into distribution of actions and behaviors in a multi agent system

Who moved?! An investigation into distribution of actions an...

引用

2006 IEEE International Conference on Mechatronics, ICM

作者： Daneshvar, Roozbeh Lucas, Caro Artificial Intelligence and Robotics Lab. Faculty of Electrical and Computer Engineering University of Tehran Tehran Iran Center of Excellence for Control and Intelligent Processing Faculty of Electrical and Computer Engineering University of Tehran and School of Intelligent Systems Tehran Iran

ISBN: (纸本)0780397134

In this paper we have considered systems in which agents communicate via their environment. In these systems the agents do not have direct and explicit communication with each other and instead they have implicit communication which is performed via the environment they are located in. Different kinds of environment elements are considered to be changed while on the other hand for all of these situations there is a change in the environment and this change means potential stimuli that fires behaviors of agents for future. It is considered that if we can find a track of changes in the environment and find the roots of a movement in an agent that is originally made by another agent of the group. © 2006 IEEE.

关键词： Multi agent systems

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Segregation in swarms of e-puck robots based on the Brazil nut effect

Segregation in swarms of e-puck robots based on the Brazil n...

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11th International Conference on Autonomous Agents and Multiagent systems 2012: Innovative Applications Track, AAMAS 2012

作者： Chen, Jianing Gauci, Melvin Price, Michael J. Groß, Roderich Natural Robotics Lab. Department of Automatic Control and Systems Engineering University of Sheffield United Kingdom

ISBN: (纸本)9781627481564

When a mixture of particles with different attributes undergoes vibration, a segregation pattern is often observed. For example, in muesli cereal packs, the largest particles-the Brazil nuts-tend to end up at the top. For this reason, the phenomenon is known as the Brazil nut effect. In previous research, an algorithm inspired by this effect was designed to produce segregation patterns in swarms of simulated agents that move on a horizontal plane. In this paper, we adapt this algorithm for implementation on robots with directional vision. We use the e-puck robot as a platform to test our implementation. In a swarm of e-pucks, different robots mimic disks of different sizes (larger than their physical dimensions). The motion of every robot is governed by a combination of three components: (i) attraction towards a point, which emulates the effect of a gravitational pull, (ii) random motion, which emulates the effect of vibration, and (iii) repulsion from nearby robots, which emulates the effect of collisions between disks. The algorithm does not require robots to discriminate between other robots;yet, it is capable of forming annular structures where the robots in each annulus represent disks of identical size. We report on a set of experiments performed with a group of 20 physical e-pucks. The results obtained in 100 trials of 20 minutes each show that the percentage of incorrectly-ordered pairs of disks from different groups decreases as the size ratio of disks in different groups is increased. In our experiments, this percentage was, on average, below 0.5% for size ratios from 3.0 to 5.0. Moreover, for these size ratios, all segregation errors observed were due to mechanical failures that caused robots to stop moving. Copyright © 2012, International Foundation for Autonomous Agents and Multiagent systems (***). All rights reserved.

关键词： Multipurpose robots

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