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New design techniques for globally convergent simultaneous localization and mapping: Analysis and implementation

Workshop on Sensing and Control for Autonomous Vehicles: Applications to Land, Water and Air Vehicles, 2017

作者： Lourenço, Pedro Guerreiro, Bruno Batista, Pedro Oliveira, Paulo Silvestre, Carlos Laboratory for Robotics and Engineering Systems Institute for Systems and Robotics Lisbon Portugal Department of Electrical and Computer Engineering Instituto Superior Técnico Universidade de Lisboa Lisbon Portugal Department of Mechanical Engineering Instituto Superior Técnico Universidade de Lisboa Lisbon Portugal Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau China

ISBN: (纸本)9783319553719

This chapter presents an overview of algorithms deeply rooted in a sensor-based approach to the SLAM problem that provide global convergence guarantees and allow for the use of partially observable landmarks. The presented algorithms address the more usual range-and-bearing SLAM problem, either in 2-D using a LiDAR or in 3-D using an RGB-D camera, as well as the range-only and bearing-only SLAM problems. For each of these formulations a nonlinear system is designed, for which state and output transformations are considered together with augmented dynamics, in such a way that the underlying system structure can be regarded as linear time-varying for observability analysis and filter design purposes. This naturally allows for the design of Kalman filters with, at least, globally asymptotically stable error dynamics, for which several experimental and simulated trials are presented to highlight the performance and consistency of the obtained filters. © Springer International Publishing AG 2017.

关键词： Kalman filters

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Aggregation Signature for Small Object Tracking

arXiv

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arXiv 2019年

作者： Liu, Chunlei Ding, Wenrui Yang, Jinyu Murino, Vittorio Zhang, Baochang Han, Jungong Guo, Guodong School of Electrical and Information Engineering Beihang University Beijing China Unmanned System Research Institute Beihang University Beijing China School of Computer Science University of Birmingham British United Kingdom University of Verona Verona Italy Pattern Analysis and Computer Vision department Istituto Italiano di Tecnologia Genoa Italy School of Automation Science and Electrical Engineering Beihang University Beijing China Shenzhen Academy of Aerospace Technology Shenzhen China WMG Data Science Group University of Warwick CoventryCV4 7AL United Kingdom Institute of Deep Learning Baidu Research and National Engineering Laboratory for Deep Learning Technology and Application

—Small object tracking becomes an increasingly important task, which however has been largely unexplored in computer vision. The great challenges stem from the facts that: 1) small objects show extreme vague and variable appearances, and 2) they tend to be lost easier as compared to normal-sized ones due to the shaking of lens. In this paper, we propose a novel aggregation signature suitable for small object tracking, especially aiming for the challenge of sudden and large drift. We make three-fold contributions in this work. First, technically, we propose a new descriptor, named aggregation signature, based on saliency, able to represent highly distinctive features for small objects. Second, theoretically, we prove that the proposed signature matches the foreground object more accurately with a high probability. Third, experimentally, the aggregation signature achieves a high performance on multiple datasets, outperforming the state-of-the-art methods by large margins. Moreover, we contribute with two newly collected benchmark datasets, i.e., small90 and small112, for visually small object tracking. The datasets will be available in https://***/bczhangbczhang/. Copyright © 2019, The Authors. All rights reserved.

关键词： Large dataset

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Introduction

Advances in Industrial Control

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Advances in Industrial Control 2018年第9783319610207期 1-18页

作者： Orsag, Matko Korpela, Christopher Oh, Paul Bogdan, Stjepan Laboratory for Robotics and Intelligent Control Systems Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Department of Electrical Engineering and Computer Science United States Military Academy West PointNY United States Department of Mechanical Engineering University of Nevada Las Vegas Las VegasNV United States

Aerial robotics has reached significant maturity in the last few years. Thus, the number of new unmanned aerial vehicles (UAV) and unmanned aerial systems (UAS), applications, and companies producing them has increased in a very important way. The number of publications and presentations in conferences has also experienced a large increase. Moreover, almost every day we can find articles, videos, and news in the general media related to drones. © Springer International Publishing AG 2018.

关键词： Antennas

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A new method for the optical flow estimation and segmentation of moving objects 'NMES'

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International Journal of Intelligent Systems Technologies and Applications 2018年第1-2期17卷 195-209页

作者： Ourchani, Amina Baarir, Zine-Eddine Taleb-Ahmed, Abdelmalik Department of Electrical Engineering AISEL University of Mohamed Khider B.P 145 RP Biskra Algeria Laboratory of Industrial and Human Automation Mechanics and Computer Sciences University of Valenciennes Valenciennes Cedex 959313 France

Segmentation of moving objects in video sequence is essential task in computer vision. This paper focuses on developing a new method for discriminate moving objects from a static background, focusing on the combination of motion, colour and texture features. First, we have used blockmatching for computing the optical flow, we also have taken in consideration the result of frame difference, to improve the quality of the optical flow. Moreover, we have used the k-means clustering algorithm owing to group the pixels, having similar features. Second, the result of the grouping pixels is used as an input in Chan-Vese model, in order to attract the evolving contour of moving objects contours. To evaluate the performance of our proposed method, we experiment it on challenging sequences. It has shown that our method provides an improved segmentation results. © 2018 Inderscience Enterprises Ltd.

关键词： Optical flows

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Semi-Global Output Containment Control of Linear Multi-agent Systems with Actuator Saturation

Semi-Global Output Containment Control of Linear Multi-agent...

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第37届中国控制会议

作者： Liangren Shi Zongli Lin Student Innovation Center and Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information Processing of the Ministry of Education Charles L. Brown Department of Electrical and Computer Engineering University of Virginia

In this paper, we study the semi-global output containment control problem of a multi-agent system in the presence of actuator saturation over a directed network. The leader and follower agents are of different dynamics, and the follower agents are affected by disturbances generated by the leader agents through directed paths in the communication topology. The control objective of the output containment control is to drive the output trajectories of the follower agents to converge to the convex hull spanned by the outputs of the leader agents in the presence of disturbances. Low gain feedback containment protocols are constructed based on the output regulation approach and distributed observers. It is shown that semi-global output containment control can be achieved by the proposed protocols, if each follower agent is connected to at least one leader agent through a directed path in the communication topology. Simulation results verify the theoretical conclusions.

关键词： Multi-agent systems output containment control output regulation low gain feedback actuator saturation

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Event-Triggered Global Leader-Following Consensus for Multi-agent Systems with Bounded Controls 36

Event-Triggered Global Leader-Following Consensus for Multi-...

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第36届中国控制会议

作者： Yijing Xie Zongli Lin Department of Automation and Key Laboratory of System Control and Information Processing of the Ministry of EducationShanghai Jiao Tong University Charles L.Brown Department of Electrical and Computer Engineering University of Virginia

ISBN: (纸本)9781538629185

This paper studies the global leader-following consensus problem for a multi-agent system using event-triggered bounded *** the follower agents and the leader agent are described by a chain of integrators of an arbitrary *** event-triggered control law is constructed for each follower agent and an event-triggering strategy is designed for updating the control *** event-triggered control laws are shown to achieve global leader-following consensus when the communication topology among the follower agents is connected and the leader is a neighbor of at least one follower *** absence of the Zeno behavior is established.A self-triggering strategy is also proposed to avoid continuous verification of the triggering *** results are given to illustrate the theoretical results.

关键词： Multi-agent systems event-triggered control self-triggering strategy bounded controls leader-following consensus

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Regional Leader-following Consensus of Multi-agent Systems with Saturating Actuators 36

Regional Leader-following Consensus of Multi-agent Systems w...

引用

第36届中国控制会议

作者： Yuanlong Li Zongli Lin Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information Processing of Ministry of Education Charles L.Brown Department of Electrical and Computer Engineering University of Virginia

ISBN: (纸本)9781538629185

For a linear system that has a pole in the open right-half plane and is subject to actuator saturation,global asymptotically stabilization cannot be *** a result,a multi-agent system containing such an actuator saturating agent can only reach regional consensus,that is,consensus can be achieved only when the initial state of each agent resides in a region of the state *** region of all these initial states is referred to as the domain of *** general,the domain of consensus cannot be exactly *** this paper,we consider the problem of estimating the domain of consensus of a multi-agent system with an agent subject to actuator saturation.A set of necessary and sufficient conditions under which an ellipsoidal set can be used as an estimate of the domain of consensus are *** on these conditions,an LMI-based optimization problem is formulated for obtaining the largest ellipsoidal estimate of the domain of *** results illustrate the effectiveness of the proposed approach and show the relationship between the size of the largest ellipsoidal estimate and the communication topology of the multi-agent system.

关键词： Multi-agent systems actuator saturation regional consensus domain of consensus

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Flexible disaster response of tomorrow final presentation and evaluation of the CENTAURO system

arXiv

引用

arXiv 2019年

作者： Klamt, Tobias Rodriguez, Diego Baccelliere, Lorenzo Chen, Xi Chiaradia, Domenico Cichon, Torben Gabardi, Maßimiliano Guria, Paolo Holmquist, Karl Kamedula, Malgorzata Karaoguz, Hakan Kashiri, Navvab Laurenzi, Arturo Lenz, Christian Leonardis, Daniele Hoffman, Enrico Mingo Muratore, Luca Pavlichenko, Dmytro Porcini, Francesco Ren, Zeyu Schilling, Fabian Schwarz, Max Solazzi, Maßimiliano Felsberg, Michael Frisoli, Antonio Gustmann, Michael Jensfelt, Patric Nordberg, Klas Roßmann, Jürgen Süß, Uwe Tsagarakis, Nikos G. Behnke, Sven Autonomous Intelligent Systems University of Bonn Germany Humanoids and Human-Centred Mechatronics Istituto Italiano di Tecnologia Genoa Italy Department of Robotics Perception and Learning KTH Royal Institute of Technology Stockholm Sweden PERCRO Laboratory TeCIP Institute Sant'Anna School of Advanced Studies Pisa Italy Institute for Man-Machine Interaction RWTH Aachen University Germany Computer Vision Laboratory Linköping University Sweden Lausanne Switzerland Kerntechnische Hilfsdienst GmbH Karlsruhe Germany School of Electrical and Electronic Engineering University of Manchester United Kingdom

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Conditions for Global Asymptotic Stabilizability of the Double Integrator System with Output Saturation

Conditions for Global Asymptotic Stabilizability of the Doub...

引用

Chinese Control Conference (CCC)

作者： Yuanlong Li Zongli Lin Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai P. R. China Charles L. Brown Department of Electrical and Computer Engineering University of Virginia Charlottesville VA USA

In this paper we revisit the problem of global asymptotic stabilization of the double integrator system subject to output saturation. We first observe that the double integrator system cannot be asymptotically stabilized by linear static output feedback. We then establish that there exist linear dynamic output feedback laws that globally asymptotically stabilize the double integrator system subject to output saturation. The determination of the linear output feedback laws is presented in the form of an algorithm. Simulation results illustrate that the linear dynamic output feedback laws have the ability to achieve global asymptotic stabilization of the double integrator system subject to output saturation.

关键词： Output feedback Linear systems Heuristic algorithms Closed loop systems Actuators Trajectory

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Artificial Muscles as Actuators in Symmetrical Structure

Artificial Muscles as Actuators in Symmetrical Structure

引用

IEEE International Conference on robotics and Biomimetics

作者： Long Li Jianfei Shen Jiakai Ma Hua Li Yingzhong Tian Wenbin Wang Xiangjie Jia Fengfeng Xi School of Mechatronic Engineering and Automation Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai China Institute of Applied Mechanics Zhejiang University Hangzhou China Mechanical and Electrical School of Shenzhen Polytechnic Shenzhen China Department of Mechanical Ryerson University Toronto ON Canada

ISBN: (纸本)9781728103785;9781728103778

Artificial muscles made of SCP (super coiled polymer) such as nylon 6 and nylon 6, 6, due to the character of attraction when heated and extension when cool down, have many novel applications as actuators. Using artificial muscles as actuators to take place of actuators like motors in traditional engineering designs has advantages such as reducing the size and weight of the model. But when applied to symmetrical structures, artificial muscles need to be assigned symmetrically, attentions should be paid that some of none heated muscles in working states may work as loads while some of other muscles are heated. Taking hyperredundant robot joint, which is a typical model of symmetrical structure, as an example. Motors, cables and springs of traditional hyperredundant robot can be replaced by SCP artificial muscles as actuators, which enables the reduction of structure size, reducing the number of components and the cost of model. But unavoidable, in this symmetrical structure, when muscle of one side is heated and contracting will leads to the extension of muscle on the opposite side. Under this circumstance, the side effect of the extended muscle is not negligible and needed to be analyzed. In this article, the model simplification and design of symmetrical structure of hyperredundant robot joint which SCP artificial muscles are applied to and the force analysis method of the structure are demonstrated. By calculation, the feasibility of replacements of SCP artificial muscles in the symmetrical structure are inferred. A 3D printed model is made and experiment result shows that SCP artificial muscles can be applied to symmetrical structure.

关键词： Conferences Robots Biomimetics

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