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35th FISITA World Automotive Congress, 2014

作者： Gáspár, Péter Bokor, József Szabó, Zoltán Fülep, Tímea Szauter, Ferenc András, Mihály Systems and Control Laboratory Institute for Computer Science and Control Budapest Hungary Systems and Control Laboratory MTA SZTAKI MTA-BME Control Engineering Research Group Budapest Hungary Research Center of Vehicle Industry Széchenyi István University Győr Hungary Department of Control for Transportation and Vehicle Systems Budapest University of Technology and Economics Budapest Hungary

The paper proposes a multi-layer supervisory architecture for integrated control systems in road vehicles. The role of the supervisor is to coordinate active control components and provide priority among them. The supervisor has information about the current operational mode of the vehicle and it is able to make decisions about the necessary interventions into the vehicle components and guarantee the reconfigurable operation of the vehicle. The decisions of the supervisor are propagated to the lower layers through predefined interfaces encoded as suitable scheduling signals. The contribution of the paper is the application of the LPV methodology in a design case study in which an integrated control of four wheel independently-actuated electric vehicle with active steering system is developed. © 2014, FISITA. All rights reserved.

关键词： Robust control

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ChaosFIRE: An experiment with chaoster, the context-aware collaboration platform for crisis/chaos management

ChaosFIRE: An experiment with chaoster, the context-aware co...

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IEEE Annual Conference on Pervasive Computing and Communications Workshops (PerCom)

作者： László Kovács Balázs E. Pataki MTA SZTAKI DSD Department of Distributed Systems Institute for Computer Science and Control Hungarian Academy of Sciences Budapest Hungary

Summary form only given. ChaosFIRE is an experiment project to evaluate the performance and usability of peer-to-peer mobile technologies as an alternative mean to central service based solutions to collect and distribute sensor information in an urban area. The Project runs under the 1st Open Call of Fed4FIRE IP under FP7 and is based on the technology developed in the Chaoster project of MTA sztaki DSD. Chaoster is a DTN-PSN (Delay Tolerant Networking - Pocket Switched Network) based adaptive, context-aware collaboration platform supporting emergent interoperability for crisis/chaos management. DTN-PSN communication layer of Chaoster is used in this experiment together with the ChaosONE simulator, for the evaluation of DTN communication protocols. This talk will present the Chaoster platform, the target use cases of the solution and the aims and results of the ChaosFIRE experiment.

关键词： Chaotic communication Collaboration computer science Peer-to-peer computing Mobile communication Interoperability

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Space complexity of list H-colouring: a dichotomy 14

Space complexity of list H-colouring: a dichotomy

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Annual ACM-Society for Industrial and Applied Mathmatics Symposium on Discrete Algorithms

作者： Laszlo Egri Pavol Hell Benoit Larose Arash Raey Institute for Computer Science and Control Hungarian Academy of Sciences (MTA SZTAKI) School of Computer Science Simon Fraser University Department of Mathematics and Statistics Concordia University

ISBN: (纸本)9781611973389

The Dichotomy Conjecture for constraint satisfaction problems (CSPs) states that every CSP is in P or is NP-complete (Feder-Vardi, 1993). It has been verified for conservative problems (also known as list homomorphism problems) by Bulatov (2003). We augment this result by showing that for digraph templates H, every conservative CSP, denoted LHOM(H), is solvable in logspace or is hard for NL. More precisely, we introduce a digraph structure we call a circular N, and prove the following dichotomy: if H contains no circular N then LHOM(H) admits a logspace algorithm, and otherwise LHOM(H) is hard for NL. More precisely, we introduce a digraph structure we call a circular N, and prove the following dichotomy: if H contains no circular N then LHOM(H) admits a logspace algorithm, and otherwise LHOM(H) is hard for NL. Our algorithm operates by reducing the lists in a complex manner based on a novel decomposition of an auxiliary digraph, combined with repeated applications of Reingold's algorithm for undirected reachability (2005). We also prove an algebraic version of this dichotomy: the digraphs without a circular N are precisely those that admit a finite chain of conservative polymorphisms satisfying the Hagemann-Mitschke identities. This confirms a conjecture of Larose and Tesson (2007) for LHOM(H). Moreover, we show that the presence of a circular N can be decided in time polynomial in the size of H.

关键词： dichotomies directed graphs space complexities Hydrogen Conjecture circular algorithms nitrogen

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Error Analysis of Algorithms for Camera Rotation Calculation in GPS/IMU/Camera Fusion for UAV Sense and Avoid Systems

Error Analysis of Algorithms for Camera Rotation Calculation...

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International Conference on Unmanned Aircraft Systems

作者： Tamas Zsedrovits Peter Bauer Akos Zarandy Balint Vanek Jozsef Bokor Tamas Roska Pazmany Peter Catholic University Faculty of Information Technology and Bionics Institute for Computer Science and Control of the Hungarian Academy of Sciences (MTA SZTAKI)

ISBN: (纸本)9781479923779

In this paper four camera pose estimation algorithms are investigated in simulations. The aim of the investigation is to show the strengths and weaknesses of these algorithms in the aircraft attitude estimation task. The work is part of a research project where a low cost UAV is developed which can be integrated into the national airspace. Two main issues are addressed with these measurements, one is the sense-and-avoid capability of the aircraft and the other is sensor redundancy. Both parts can benefit from a good attitude estimate. Thus, it is important to use the appropriate algorithm for the camera rotation estimation. Results show that many times even the simplest algorithm can perform at an acceptable level of precision for the sensor fusion.

关键词： UAV Sensor fusion IMU GPS Camera FPGA

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Fully distributed robust singular value decomposition

Fully distributed robust singular value decomposition

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International Conference on Peer-to-Peer Computing

作者： István Hegedűs Márk Jelasity Levente Kocsis András A. Benczúr University of Szeged Hungary MTA-SZTE Research Group on Artificial Intelligence Hungary Institute for Computer Science and Control Hungarian Academy of Sciences (MTA SZTAKI)

Low-rank matrix approximation is an important tool in data mining with a wide range of applications including recommender systems, clustering, and identifying topics in documents. The problem we tackle is implementing singular value decomposition (SVD)-a popular method for low rank approximation in large fully distributed P2P systems in a robust and scalable manner. We assume that the matrix to be approximated is stored in a large network where each node knows one row of the matrix (personal attributes, documents, media ratings, etc). In our P2P model, we do not allow this personal information to leave the node, yet we want the nodes to collaboratively compute the SVD. Methods applied in large scale distributed systems such as synchronized parallel gradient search or distributed iterative methods are not preferable in our system model due to their requirements of synchronized rounds or their inherent issues with load balancing. Our approach overcomes these limitations with the help of a distributed stochastic gradient search in which the personal part of the decomposition remains local, and the global part (e.g., movie features) converges at all nodes to the correct value. We present a theoretical derivation of our algorithm, as well as a thorough experimental evaluation of real and synthetic data as well. We demonstrate that the convergence speed of our method is competitive while not relying on synchronization and being robust to extreme failure scenarios.

关键词： Peer-to-peer computing Matrix decomposition Approximation methods Approximation algorithms Vectors Synchronization Convergence

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Error analysis of attitude estimation with focal-plane processors for guidance for mobile robots

Error analysis of attitude estimation with focal-plane proce...

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IEEE International Workshop on Cellular Nanoscale Networks and their Applications, (CNNA)

作者： Tamas Zsedrovits Akos Zarandy Peter Bauer Balint Vanek Jozsef Bokor Tamas Roska Faculty of Information Technology and Bionics Pazmarry Peter Catholic University Budapest Hungary Control of the Hungarian Academy of Sciences (MTA SZTAKI) Institute for Computer Science Budapest Hungary

In this paper the results of the error analysis of four different feature point based attitude estimator algorithm is introduced. The algorithms was tested in simulation with realistic flight paths and camera models. With these results a best performing candidate algorithm can be chosen for a given focal-plane processor and for the given scenarios.

关键词： Cameras Program processors Algorithm design and analysis Visualization Spatial resolution Estimation Global Positioning System

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An improved method for estimating the domain of attraction of nonlinear systems containing rational functions

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Journal of Physics: Conference Series 2015年第1期659卷

作者： Péter Polcz Gábor Szederkényi Tamás Péni Faculty of Information Technology and Bionics Pázmány Péter Catholic University Práter u. 50/a H-1083 Budapest Hungary Systems and Control Laboratory Institute for Computer Science and Control (MTA SZTAKI) Hungarian Academy of Sciences Kende u. 13-17 H-1111 Budapest Hungary

An optimization based method is proposed in this paper for the computation of Lyapunov functions and regions of attractions for nonlinear systems containing polynomial and rational terms. The Lyapunov function is given in a special quadratic form, and the negativity of its derivative is ensured using appropriate LMI conditions. The conservatism of the solution is reduced by utilizing Finsler's lemma. The number of monomial and rational terms in the computational problem is kept as low as possible using linear fractional transformation (LFT) and automatic model simplification steps. The operation of the method is illustrated on two examples taken from the literature.

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Prediction by random-walk perturbation

Prediction by random-walk perturbation

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26th Conference on Learning Theory, COLT 2013

作者： Devroye, Luc Lugosi, Gabor Neu, Gergely School of Computer Science McGill University Canada ICREA Department of Economics Universitat Pompeu Fabra Spain MTA SZTAKI Institute for Computer Science and Control Department of Computer Science and Information Theory Budapest University of Technology and Economics Hungary

We propose a version of the follow-the-perturbed-leader online prediction algorithm in which the cumulative losses are perturbed by independent symmetric random walks. The forecaster is shown to achieve an expected regret of the optimal order O(√nlog N) where n is the time horizon and N is the number of experts. More importantly it is shown that the forecaster changes its prediction at most O(√nlog N) times, in expectation. We also extend the analysis to online combinatorial optimization and show that even in this more general setting, the forecaster rarely switches between experts while having a regret of near-optimal order. © 2013 L. Devroye, G. Lugosi & G. Neu.

关键词： Combinatorial optimization

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The Planar Directed K-Vertex-Disjoint Paths Problem Is Fixed-Parameter Tractable

The Planar Directed K-Vertex-Disjoint Paths Problem Is Fixed...

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Annual IEEE Symposium on Foundations of computer science

作者： Marek Cygan Daniel Marx Marcin Pilipczuk Michal Pilipczuk Institute of Informatics University of Warsaw Poland Institute for Computer Science and Control Hungarian Academy of Sciences (MTA SZTAKI) Hungary Department of Informatics University of Bergen Norway

Given a graph G and k pairs of vertices (s 1 , t 1 ), ..., (s k , t k ), the k-Vertex-Disjoint Paths problem asks for pair wise vertex-disjoint paths P 1 , ..., Pk such that Pi goes from si to ti. Schrijver [SICOMP'94] proved that the k-Vertex-Disjoint Paths problem on planar directed graphs can be solved in time nO(k) . We give an algorithm with running time 2 2O(k2) * n O(1) for the problem, that is, we show the fixed-parameter tractability of the problem.

关键词： Joining processes Polynomials Electronic mail Standards computer science Informatics Educational institutions

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Temporal prediction of retweet count

Temporal prediction of retweet count

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International Conference on Cognitive Infocommunications (CogInfoCom)

作者： Róbert Pálovics Bálint Daróczy András A. Benczúr Technical University Budapest Institute for Computer Science and Control Hungarian Academy of Sciences (MTA SZTAKI) 3Eötvös University Budapest

In recent years Twitter became the social network for information sharing and spreading. By retweeting, users spreading information and build cascades of information pathways. In this paper we investigate the possibility predicting the future popularity of emerging retweet cascades immediately after the message appears or in the very early stage of retweeting it. We evaluate our algorithms on four sets of tweets that include the text and the follower network.

关键词： Twitter Internet Information services Electronic publishing Media Computational modeling

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