The localization accuracy of visual SLAM depends on the image ***,in postdisaster rescue missions,the images obtained by the camera often contain considerable noise,which affects the pose estimation based on visual **...
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ISBN:
(数字)9789887581536
ISBN:
(纸本)9781665482561
The localization accuracy of visual SLAM depends on the image ***,in postdisaster rescue missions,the images obtained by the camera often contain considerable noise,which affects the pose estimation based on visual *** this paper,we study the influence of random impulse noise in images on the localization accuracy of visual SLAM,and reduce these influences by denoising and removing ***,the camera image is preprocessed by the traditional image noise reduction *** at the problem of a large number of mismatches in optical flow tracking due to the influence of residual noise,the improved random sample consensus method is adopted to remove *** judge the correct matching probability of optical flow tracking results by normalized cross-correlation matching before random *** use guided sampling to select matching points to estimate the camera motion model,to increase the robustness of the SLAM ***,our method is verified in the open-source solution *** show that after random impulse noise is added to the KITTI dataset,the pose estimation accuracy of the improved SLAM is higher than the pose estimation accuracy after noise reduction only,and it is also higher than the pose estimation results of the original images in multiple sequences of the KITTI dataset.
In the cement production process, the decomposer outlet temperature control faces challenges such as large time delay and multiple disturbances. A general control system cannot handle time delay and disturbances effec...
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This paper is concerned with the controller design and the theoretical analysis for time-delay systems, a two degree of freedom (feedforward and feedback) control method is proposed, which combines advantages of the S...
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In recent years, owing to the growing maturity of Internet of Things technology and mobile communication technology, intelligent wearable devices have developed *** have been widely applied in aviation, medicine, mili...
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In recent years, owing to the growing maturity of Internet of Things technology and mobile communication technology, intelligent wearable devices have developed *** have been widely applied in aviation, medicine, military, entertainment and other fields. Through intelligent wearable devices, people can communicate efficiently, dynamically perceive external environments, and monitor the body's vital signs.
This paper considers the human-in-the-loop leader-following consensus control problem of multi-agent systems(MASs)with unknown matched nonlinear functions and actuator *** is assumed that a human operator controls the...
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This paper considers the human-in-the-loop leader-following consensus control problem of multi-agent systems(MASs)with unknown matched nonlinear functions and actuator *** is assumed that a human operator controls the MASs via sending the command signal to a non-autonomous leader which generates the desired ***,the leader’s input is nonzero and not available to all *** using neural networks and fault estimators to approximate unknown nonlinear dynamics and identify the actuator faults,respectively,the neighborhood observer-based neural fault-tolerant controller with dynamic coupling gains is *** is proved that the state of each follower can synchronize with the leader’s state under a directed graph and all signals in the closed-loop system are guaranteed to be cooperatively uniformly ultimately ***,simulation results are presented for verifying the effectiveness of the proposed control method.
This paper focuses on the leader-following consensus control problem for nonlinear multiagent systems subject to deferred asymmetric time-varying state constraints.A distributed eventtriggered adaptive neural control ...
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This paper focuses on the leader-following consensus control problem for nonlinear multiagent systems subject to deferred asymmetric time-varying state constraints.A distributed eventtriggered adaptive neural control approach is *** virtue of a distributed sliding-mode estimator,the leader-following consensus control problem is converted into multiple simplified tracking control ***,a shifting function is utilized to transform the error variables such that the initial tracking condition can be totally unknown and the state constraints can be imposed at a specified time ***,the deferred asymmetric time-varying full state constraints are addressed by a class of asymmetric barrier Lyapunov *** order to reduce the burden of communication,a relative threshold event-triggered mechanism is incorporated into controller and Zeno behavior is *** on Lyapunov stability theorem,all closed-loop signals are proved to be semi-globally uniformly ultimately ***,a practical simulation example is given to verify the presented control scheme.
In this paper,the formation control problem is investigated for a team of uncertain underactuated surface vessels(USVs)based on a directed *** the risk of collision and the limited communication range of USVs,the pres...
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In this paper,the formation control problem is investigated for a team of uncertain underactuated surface vessels(USVs)based on a directed *** the risk of collision and the limited communication range of USVs,the prescribed performance control(PPC)methodology is employed to ensure collision avoidance and connectivity *** event-triggered mechanism is designed to reasonably use the limited communication ***,neural networks(NNs)and an auxiliary variable are constructed to deal with the problems of uncertain nonlinearities and underactuation,***,an event-triggered formation control scheme is proposed to ensure that all signals of the closed-loop system are uniformly ultimately bounded(UUB).Finally,simulation results are presented to demonstrate the effectiveness of the proposed control scheme.
Workpiece grinding is a crucial process in the smart manufacturing chain. In order to meet the requirements of industrial precision and relieve heavy work, researchers have developed a vision-based grinding robot. How...
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The adaptive fixed-time consensus problem for a class of nonlinear multi-agent systems(MASs)with actuator faults is considered in this *** approximate the unknown nonlinear functions in MASs,radial basis function neur...
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The adaptive fixed-time consensus problem for a class of nonlinear multi-agent systems(MASs)with actuator faults is considered in this *** approximate the unknown nonlinear functions in MASs,radial basis function neural networks are *** addition,the first order sliding mode differentiator is utilized to solve the“explosion of complexity”problem,and a filter error compensation method is proposed to ensure the convergence of filter error in fixed *** the help of the Nussbaum function,the actuator failure compensation mechanism is *** designing the adaptive fixed-time controller,all signals in MASs are bounded,and the consensus errors between the leader and all followers converge to a small area of ***,the effectiveness of the proposed control method is verified by simulation examples.
In sequential recommender systems, the main problems are the long-tailed distribution of data and noise interference. A Contrastive Framework for Sequential Recommendation (CFSeRec) is proposed to solve these two prob...
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