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2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)最新文献

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A probabilistic cellular automata ant memory model for a swarm of foraging robots 觅食机器人群的概率元胞自动机记忆模型
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838615
D. A. Lima, G. Oliveira
{"title":"A probabilistic cellular automata ant memory model for a swarm of foraging robots","authors":"D. A. Lima, G. Oliveira","doi":"10.1109/ICARCV.2016.7838615","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838615","url":null,"abstract":"Foraging is one of the most popular tasks for multi-robot systems and it can be considered a metaphor for a broad class of problems. The complexity of the problem increases proportionally with the number of agents, due to the fact that all robots must act in cooperation to complete the task. The proposed model employs a combination of different natural swarm behavior techniques to control a team of robots. It was named robot probabilistic cellular automata ant memory (RPCAAM). Our inspiration came from the possibility to mimic the cognitive behaviors of foraging ants with those of pedestrians in a building evacuation. The proposed probabilistic homing can avoid inertial behavior near the nests, which improves team performance. Furthermore, some investigations into robot-robot and robot-obstacles conflicts were improved to make the model more adequate to real-world applications. The probabilistic model was contrasted with deterministic homing. Moreover, the proposed method was implemented in a robotics simulation environment called Webots. Simulation results indicate that foraging tasks could be implemented with low complexity in low-cost architectures.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123694896","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 17
Analytical method for multimodal localization combination using Wi-Fi and camera 基于Wi-Fi和摄像头的多模态定位组合分析方法
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838717
Nicolas des Aunais, T. Dao, Dinh-Van Nguyen, Thanh-Thuy Pham, Eric Castelli, Thi-Lan Le, N. Pham
{"title":"Analytical method for multimodal localization combination using Wi-Fi and camera","authors":"Nicolas des Aunais, T. Dao, Dinh-Van Nguyen, Thanh-Thuy Pham, Eric Castelli, Thi-Lan Le, N. Pham","doi":"10.1109/ICARCV.2016.7838717","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838717","url":null,"abstract":"This paper introduces and demonstrates a combination scheme for the combination of Wi-Fi based and camera based localization technologies to increase the applicability in indoor environments. The scheme is developed on the basis of an analytical approach by looking for maximizing the probability of appearance and the reliability of the location results provided by underlying technologies. The proposed scheme is derived in a general way such that it can be easily extended to include more localization technologies, as well as other kinds of them in the system.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128184962","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Designing a safe and robust automatic take-off maneuver for a fixed-wing UAV 固定翼无人机安全鲁棒自动起飞机动设计
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838846
Martin E. Kugler, F. Holzapfel
{"title":"Designing a safe and robust automatic take-off maneuver for a fixed-wing UAV","authors":"Martin E. Kugler, F. Holzapfel","doi":"10.1109/ICARCV.2016.7838846","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838846","url":null,"abstract":"The SAGITTA Demonstrator is a novel UAV with a digital flight control system being developed by the Institute of Flight System Dynamics of the Technical University of Munich. This paper presents the implementation of an automatic take-off algorithm as a system automation module of the auto flight system. Based on a phase-breakdown of take-off, the implementation features a state machine that covers the procedure of the maneuver and the transition conditions from one phase to another. Through this state machine, the automatic take-off algorithm enables controller modules of the auto flight system and provides corresponding commands for the conduct of take-off. The design of the automatic take-off algorithm focuses on maximizing safety and robustness against uncertainties and disturbances. Presented simulation results prove the concept of the algorithm as well as its robustness to simulated reality effects.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129673835","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 14
Multiple-group antagonistic consensus control of seconder-order agents 二级药剂的多群拮抗一致控制
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838822
Wanting Lu, Yongduan Song
{"title":"Multiple-group antagonistic consensus control of seconder-order agents","authors":"Wanting Lu, Yongduan Song","doi":"10.1109/ICARCV.2016.7838822","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838822","url":null,"abstract":"This paper investigates the antagonistic consensus problem of a class of second-order multi-agent systems with fixed topology. A distributed consensus control algorithm is proposed for each agent to realize the four-group antagonistic consensus. A sufficient condition is derived to ensure that all agents make a four-group antagonistic motion in a distributed manner. It is shown that all agents can be spontaneously divided into four groups, and agents in the same group collaborate while agents in different groups compete. Numerical simulations are included to demonstrate our theoretical results.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130039370","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Development of a 1-DOF wearable force feedback device with soft actuators and comparative evaluation of the actual objects and virtual objects in the AR space 一种带有软作动器的1自由度可穿戴力反馈装置的研制及AR空间中真实物体和虚拟物体的对比评估
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838708
R. Suzuki, Masakazu Egawa, Yasuyuki Yamada, Taro Nakamura
{"title":"Development of a 1-DOF wearable force feedback device with soft actuators and comparative evaluation of the actual objects and virtual objects in the AR space","authors":"R. Suzuki, Masakazu Egawa, Yasuyuki Yamada, Taro Nakamura","doi":"10.1109/ICARCV.2016.7838708","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838708","url":null,"abstract":"A desktop force feedback device is able to render reaction force of virtual objects. However, the desktop type limits operator's motion. In contrast, a wearable force feedback device allows us to interact with virtual objects while moving in virtual space. In this study, we have developed a 1-DOF wearable force feedback device with MR brake and pneumatic artificial muscles. These actuators are lightweight, have a high power density, and are controlled by feed-forward control. This device is equipped with the operator's arm and renders various forces, such as friction, elasticity, and viscosity. In this paper, we improve the device to solve existing problems from previous studies. The proposed device is tested to confirm its basic properties. It is applied to augmented reality space and comparisons of subjective evaluations between virtual objects and actual objects","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130071460","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 5
Formations of unmanned micro aerial vehicles led by migrating virtual leader 迁移虚拟leader引导的无人微型飞行器编队
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838801
M. Saska, T. Báča, Daniel Heřt
{"title":"Formations of unmanned micro aerial vehicles led by migrating virtual leader","authors":"M. Saska, T. Báča, Daniel Heřt","doi":"10.1109/ICARCV.2016.7838801","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838801","url":null,"abstract":"A novel approach for control and motion planning of formations of multiple unmanned micro aerial vehicles (MAVs), also referred to as unmanned aerial vehicles (UAVs) — multirotor helicopters, in cluttered GPS-denied environments is presented in this paper. The proposed method enables autonomously to design complex maneuvers of a compact MAV team in a virtual-leader-follower scheme. The feasibility of obtained results of the motion planning approach and the required stability of the formation is achieved by migrating the virtual leader along a hull surrounding the formation. This enables us to suddenly change formation motion in all directions, independently of actual orientation of the formation.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130201952","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 9
Distributed event-triggered containment control of multiple rigid bodies with combinational measurements 多刚体组合测量的分布式事件触发约束控制
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838625
Na Huang, Z. Duan, Changbin Yu
{"title":"Distributed event-triggered containment control of multiple rigid bodies with combinational measurements","authors":"Na Huang, Z. Duan, Changbin Yu","doi":"10.1109/ICARCV.2016.7838625","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838625","url":null,"abstract":"This paper studies the distributed containment control problem of multiple rigid bodies with event-triggered controllers. An event-triggered cooperative strategy is proposed based on combinational measurements. In this framework, each agent is triggered only at its own triggering instants, which reduces the frequency of controller updates in practice. It is shown that the triggering time sequence of each agent is Zero-free. Finally, a modified event-triggered condition is designed to avoid continuous combinational measurements between neighboring agents. It is also shown that no agents will exhibit Zeno triggering in this case.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130766722","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 4
Exploiting generic multi-level convolutional neural networks for scene understanding 利用通用的多层次卷积神经网络进行场景理解
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838719
Tam V. Nguyen, Luoqi Liu, Khang Nguyen
{"title":"Exploiting generic multi-level convolutional neural networks for scene understanding","authors":"Tam V. Nguyen, Luoqi Liu, Khang Nguyen","doi":"10.1109/ICARCV.2016.7838719","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838719","url":null,"abstract":"In this paper, we introduce the application of generic multi-level Convolutional Neural Networks (CNN) approach into the scene understanding or image parsing task. Given an input image, first, a set of similar images from the training set are retrieved based on global-level CNN feature matching similarities. Then, the input test image and the similar images are overseg-mented into superpixels. Next, the class of each test image's superpixel is initialized by the majority vote of the fc-nearest-neighbor superpixels based on regional-level CNN features and hand-crafted features matching. The initial superpixel parsing is later combined with per-exemplar sliding windows to roughly form the pixel labels. Eventually, the final labels are further refined by the contextual smoothing. Extensive experiments on different challenging datasets demonstrate the potentials of the proposed method.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130907138","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 8
A model predictive power control method with longer prediction horizon for distributed power generations 一种具有较长预测视界的分布式发电模型预测功率控制方法
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838763
M. M. Aghdam, Li Li, Jianguo Zhu
{"title":"A model predictive power control method with longer prediction horizon for distributed power generations","authors":"M. M. Aghdam, Li Li, Jianguo Zhu","doi":"10.1109/ICARCV.2016.7838763","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838763","url":null,"abstract":"The model predictive control method can be effective for converter control in distributed power generation but requires a large amount of computation, leading to a considerable time delay in the actuation. If the delay is not reflected, the system performance could get worse. This paper presents a two-step (horizon) prediction algorithm of model predictive control technique for grid-tied inverters used in wind turbine systems. The control objectives such as active and reactive power flow and switching loss reduction are reflected in the objective function of the controller. The proposed model predictive control strategy is verified numerically by using MATLAB/Simulink.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125432299","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Fault detection for delta operator systems with packet dropout and limited communication 具有丢包和有限通信的增量算子系统的故障检测
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838793
Duanjin Zhang, Yingqing Zhao
{"title":"Fault detection for delta operator systems with packet dropout and limited communication","authors":"Duanjin Zhang, Yingqing Zhao","doi":"10.1109/ICARCV.2016.7838793","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838793","url":null,"abstract":"Considering time-delay networked control systems with packet dropout and limited communication, the fault detection is studied via delta operator. Depicting the model of data losses as Bernoulli distribution and exploiting limited output channels for data transmission, an H∞ fault detection filter and a residual generator are developed on the basis of the state observer. Then, sufficient conditions for the residual systems to be asymptotically stable and ensure the H∞ performance index are given in terms of Lyapunov functional technique and linear matrix inequalities (LMIs) approach in delta domain. The designed filter can ensure that the residual signal is sensitive to failures. Finally, the applicability of the presented method is demonstrated by a simulation example.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125555505","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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