Visual observation of objects is essential for many robotic applications, such as object reconstruction and manipulation, navigation, and scene understanding. Machine learning algorithms constitute the state-of-the-ar...
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Road environments can include several local optimal solutions to be explored by a motion planning algorithm, which can be computationally complex. This work proposes a two-stage approach, where each stage solves the s...
Road environments can include several local optimal solutions to be explored by a motion planning algorithm, which can be computationally complex. This work proposes a two-stage approach, where each stage solves the same basis-spline parameterized optimal control problem. In the first step, a solution is selected from a discrete set of trajectory candidates. In the second one, the trajectory is refined by a nonlinear optimization algorithm in the continuous solution space. The non-uniform basis-spline parameterization guarantees the trajectory's time-continuous feasibility. Final costs are introduced to ensure convergence towards a final manifold. The approach is evaluated in a highway scenario where other vehicles must be circumnavigated to reach a specified velocity and lane center.
The trajectory tracking problem is a fundamental control task in the study of mechanical systems. Hamiltonian systems are posed on the cotangent bundle of configuration space of a mechanical system, however, symmetrie...
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The trajectory tracking problem is a fundamental control task in the study of mechanical systems. Hamiltonian systems are posed on the cotangent bundle of configuration space of a mechanical system, however, symmetries for the full cotangent bundle are not commonly used in geometric controltheory. In this paper, we propose a group structure on the cotangent bundle of a Lie group and leverage this to define momentum and configuration errors for trajectory tracking, drawing on recent work on equivariant observer design. We show that this error definition leads to error dynamics that are themselves “Euler-Poincare like” and use these to derive simple, almost global trajectory tracking control for fully-actuated Euler-Poincare systems on a Lie group state space.
The contribution at hand presents a novel method for optimizing the illumination of matrix headlights in simulation to improve the environment perception of camera-based computer vision and the object detection qualit...
The contribution at hand presents a novel method for optimizing the illumination of matrix headlights in simulation to improve the environment perception of camera-based computer vision and the object detection quality for automated driving. With high-definition (HD) matrix headlights in combination with the developed novel algorithm, different surfaces and materials in the environment can be illuminated with different intensities, resulting in material-based and -optimized illumination that is individually adapted to each material. This environment-optimal illumination improves the detection quality of computer vision, which is better than conventional homogenous headlamp illumination. Additionally, it is possible to achieve a similar detection quality using the novel proposed optimization approach with potential energy savings of up to 88%.
The contribution at hand presents a novel control system for projecting symbols onto the road by high-definition matrix headlights in automobiles. The control system dynamically adjusts the projection of symbols on un...
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ISBN:
(数字)9798350372694
ISBN:
(纸本)9798350372700
The contribution at hand presents a novel control system for projecting symbols onto the road by high-definition matrix headlights in automobiles. The control system dynamically adjusts the projection of symbols on uneven road surfaces, improving the legibility and distortion-free appearance of these symbols. This contribution addresses the challenge of projecting symbols onto irregular surfaces that state-of-the-art flat plane models cannot accurately capture. The proposed system requires neither a detailed 3D model of the projection surface nor computationally intensive inverse ray casting. It calculates control errors directly from the symbol's ego-vehicle camera image, resulting in a closed-loop system that adapts to real-world conditions. With the new feedback control system, the robustness of maintaining the correct position and shape of the symbols is significantly improved, ensuring the safety of communication between vehicles and humans outside the vehicle.
Accurate 3D object detection is vital for automated driving. While lidar sensors are well suited for this task, they are expensive and have limitations in adverse weather conditions. 3+1D imaging radar sensors offer a...
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This paper is concerned the problem of multi-sensor state estimation with cross-correlated noise, this paper adopts sequential fusion to estimate the state. The statistical characteristics of measurement noise of diff...
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The leader-following asymptotic consensus problem for general discrete-time linear multi-agent systems over jointly con-nected switching networks was solved about a decade ***,the leader-following exponential consensu...
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The leader-following asymptotic consensus problem for general discrete-time linear multi-agent systems over jointly con-nected switching networks was solved about a decade ***,the leader-following exponential consensus was further established using the so-called Krasovskii-LaSalle theorem for a class of discrete-time linear switched *** this method involves some advanced concepts such as the weak zero-state detectability of some limiting *** this paper,we offer a simpler solution to the leader-following exponential consensus problem for general discrete-time linear multi-agent systems over jointly connected switching *** converting the solvability of the problem to the establishment of the exponential stability for a class of discrete-time linear switched systems,we first show that this class of linear switched systems is uniformly completely ***,we further conclude that the uniform complete observability for this class of linear switched systems implies the exponential stability for the same class of linear switched systems,thus leading to the solution of the leader-following exponential consensus ***,our approach also gives rise to an explicit characterization of the exponential convergence rate of the leader-following consensus problem.
This contribution generalizes our real-time Super Sampling control (SSC) method for pixel light intensities of automotive matrix headlights to a general MapReduce method. The redesigned control method is now a general...
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ISBN:
(数字)9798350394924
ISBN:
(纸本)9798350394931
This contribution generalizes our real-time Super Sampling control (SSC) method for pixel light intensities of automotive matrix headlights to a general MapReduce method. The redesigned control method is now a generalization with extended capabilities of well-known control methods, which can be used to find an efficient control stagey for a specific matrix headlight and target illumination. The process of finding the objectively best control parameters is shown on real matrix headlights with 84 and 16,384 pixels. For a homogeneous target illumination, the SSC method achieves for the 84 pixels headlamp an up to 8.84 % lower Root Mean Squared Error (RMSE) of the intensity distribution than a rectangular lighting approximation without the novel intensity mapping and a 95.85 % lower RMSE for the 16,384 pixels headlamp.
The contribution at hand presents and evaluates a novel matrix headlamp lighting distribution optimized for computer vision and energy consumption, thus enhancing automated vehicles' safety through an improved per...
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ISBN:
(数字)9798350394924
ISBN:
(纸本)9798350394931
The contribution at hand presents and evaluates a novel matrix headlamp lighting distribution optimized for computer vision and energy consumption, thus enhancing automated vehicles' safety through an improved perception. The light distribution considers the materials of the environment to illuminate each material selectively with a different intensity. The simulative results show that today's real light distributions are inefficient for automated driving and that the proposed material-based illumination can enhance the detection quality by over 80% while saving energy simultaneously, outperforming real and homogenous light distributions.
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