In the era of artificial intelligence generated content (AIGC), conditional multimodal synthesis technologies (e.g., text-to-image) are dynamically reshaping the natural content. Brain signals, serving as potential re...
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This article focuses on discussing the effects of inter-vehicular communication on the performance of platoon control. Different from the existing results established under a critical assumption that the fading channe...
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Indoor mobile robots require reliable solutions for mapping, localization, and navigation tasks. This paper presents a mobile robot system that implements the ability to realize mapping using visual SLAM with ORB-SLAM...
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To achieve low joint-angle drift and avoid mutual collision between dual redundant manipulators (DRMs) when they are doing collaboration works, a recurrent neural network based bicriteria repetitive motion collision a...
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Enabling robots to imitate human actions and perform tasks with high precision while avoiding potential obstacles in the environment can effectively enhance the interaction between social robots and humans. In this pa...
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Wireless sensor and actuator networks （WSANs） have a wide range of applications. To perform effective sensing and acting tasks, multiple coordination mechanisms among the nodes are required. As attempt in this direc...
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Wireless sensor and actuator networks （WSANs） have a wide range of applications. To perform effective sensing and acting tasks, multiple coordination mechanisms among the nodes are required. As attempt in this direction, this paper describes collaborative estimation and control algorithms design for WSANs. First, a sensor-actuator coordination model is proposed based on distributed Kalman filter in federated configuration. This method provides the capability of fault tolerance and multi-source information fusion. On this basis, an actuator-actuator coordination model based on even-driven task allocation is introduced. Actuators utilize fused sensory information to adjust their action that incur the minimum energy cost to the system subject to the constraints that user＇s preferences regarding the states of the system are approximately satisfied. Finally, according to system requirements, a distributed algorithm is proposed to solve the task allocation problem. Simulations demonstrate the effectiveness of our proposed methods.
Indoor mobile robots require reliable solutions for mapping, localization, and navigation tasks. This paper presents a mobile robot system that implements the ability to realize mapping using visual SLAM with ORB-SLAM...
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ISBN:
(数字)9798331506797
ISBN:
(纸本)9798331506803
Indoor mobile robots require reliable solutions for mapping, localization, and navigation tasks. This paper presents a mobile robot system that implements the ability to realize mapping using visual SLAM with ORB-SLAM3 and LiDAR-based mapping with Gmapping for indoor perception and navigation through a modular ROS architecture. The framework also implements autonomous navigation and an autonomous Rapidly-exploring Random Trees (RRT) exploration module with adaptive reset mechanisms. The system operates on a ROS-based platform equipped with an Intel RealSense D435i RGB-D camera and LDS-02 LiDAR scanner. Experimental validation in simulated indoor environments demonstrates the system's capabilities and the presented architecture achieves computational efficiency through selective utilization of mapping modules while maintaining mapping accuracy through complementary sensor modalities.
Delay-time and energy constraints have a significant impact on the design and operation of wireless sensor and actuator networks(WSANs).Aiming for a class of random sudden events,the real-time actuator scheduling stra...
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ISBN:
(纸本)9789881563842
Delay-time and energy constraints have a significant impact on the design and operation of wireless sensor and actuator networks(WSANs).Aiming for a class of random sudden events,the real-time actuator scheduling strategy is proposed based on the event driven in *** proposed scheduling strategy,three performance indexes,such as reaction time,energy consumption and energy distribution of whole network are considered at the same *** translate the actuator scheduling strategy into a multi-objective optimization ***,the optimal solution of the multi-objective issues is usually not able to be *** solve the problems,we first obtain the optimal solution of a single objective,and then make each performance index try to be close to own optimization solution via normalizing the evaluation function in order to achieve multi-objective approximate optimization *** approach is called the normalization optimization *** extended simulations illustrate the proposed actuator scheduling strategy is feasible and effective in WSANs.
This paper addresses the co-design problems of event generator and controller for linear parameter varying systems where the parameters are not exactly known,but only estimated parameters satisfying certain uncertaint...
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ISBN:
(纸本)9781479900305
This paper addresses the co-design problems of event generator and controller for linear parameter varying systems where the parameters are not exactly known,but only estimated parameters satisfying certain uncertainty level is *** applying a quadratic input-to-state stable Lyapunov function,a sufficient condition for the existence of the event-triggered controller and event generator is established using the linear matrix *** further present a sufficient condition for linear time-invariant *** a numerical example,the effectiveness of the proposed method is illustrated.
Multi-vehicle deployment can be formulated as a cooperation formation problem using the weighted consensus *** objectives are that make adjacent vehicles keep the constant spacing and all vehicles approach the common ...
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ISBN:
(纸本)9781538629185
Multi-vehicle deployment can be formulated as a cooperation formation problem using the weighted consensus *** objectives are that make adjacent vehicles keep the constant spacing and all vehicles approach the common velocity and ***,it is preferred that vehicle platoon has fast convergence and strong robustness when disturbances *** achieve these goals,the third-order dynamics are established for vehicle platoon that are regarded as connected vehicle systems（CVSs） and distributed control protocols are designed to implement cooperation *** paper focuses on analysis of stability and stability margin for the *** sufficient and necessary conditions on stability of the CVSs are achieved using the algebraic graph theory and the Routh-Hurwitz stability *** the sufficient conditions,which are determined by the controller gains and the model parameter,but are independent on eigenvalues of the Laplacian matrix of the corresponding network topology,are *** characterize convergent speed of CVSs,the conditions on stability margin of CVSs are also *** are shown to verify validation of the results.
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