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

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Appearance-based indoor navigation by IBVS using mutual information 基于互信息的IBVS室内外观导航
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838760
S. Bista, P. Giordano, F. Chaumette
{"title":"Appearance-based indoor navigation by IBVS using mutual information","authors":"S. Bista, P. Giordano, F. Chaumette","doi":"10.1109/ICARCV.2016.7838760","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838760","url":null,"abstract":"This paper presents a complete framework for image-based navigation from an image memory that exploits mutual information and does not need any feature extraction, matching or any 3D information. The navigation path is represented by a set of automatically selected key images obtained during a prior learning phase. The shared information (entropy) between the current acquired image and nearby key images is exploited to switch key images during navigation. Based on the key images and the current image, the control law proposed by [1] is used to compute the rotational velocity of a mobile robot during its qualitative visual navigation. Using our approach, real-time navigation has been performed inside a corridor and inside a room with a Pioneer 3-DX equipped with an on-board perspective camera without the need of accurate mapping and localization.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"50 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":"134051349","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: 12
An intelligent traffic-flow-based real-time vehicles scheduling algorithm at intersection 基于智能交通流的交叉口车辆实时调度算法
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838779
Ming-kang Shi, Hong Jiang, Song-huan Li
{"title":"An intelligent traffic-flow-based real-time vehicles scheduling algorithm at intersection","authors":"Ming-kang Shi, Hong Jiang, Song-huan Li","doi":"10.1109/ICARCV.2016.7838779","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838779","url":null,"abstract":"The urban road traffic congestion is becoming a serious problem. The number of vehicles waiting to be processed at the intersection is rising sharply with the increase of the traffic flow, and it cannot be effectively scheduled by the traditional traffic lights. A real-time vehicle scheduling algorithm based on the traffic flow to improve the vehicle scheduling ability of the intersection and reduce the traffic pressure is proposed in this paper. Under the Internet of Vehicles and intelligent transportation information environment, the relative priority on the basis of the existing design of the signal phase is presented, which takes the vehicle waiting queue and waiting time as the control parameters. Traffic signal phase is selected according to the relative priority, which can adjust the traffic signal cycle at intersection in real time and enable as much as more vehicles to pass safely. The experimental results show that this algorithm has a higher vehicle passing rate than the existing algorithms in the same time.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"105 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":"131911018","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: 15
A hybrid algorithm for efficient path planning of autonomous ground vehicles 自主地面车辆高效路径规划的混合算法
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838802
S. Anavatti, Sumana Biswas, Jedd T. Colvin, Mahardhika Pratama
{"title":"A hybrid algorithm for efficient path planning of autonomous ground vehicles","authors":"S. Anavatti, Sumana Biswas, Jedd T. Colvin, Mahardhika Pratama","doi":"10.1109/ICARCV.2016.7838802","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838802","url":null,"abstract":"This paper discusses an overview on different path planning algorithms and analyzes their performance. Based on this, an efficient hybrid algorithm is proposed for path planning in both static and dynamic environments. The numerical results are presented to validate the proposed design. The method is compared to other heuristic algorithms in different scenarios. The proposed algorithm is shown to be more efficient computationally than the other comparable algorithms.","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":"132233115","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: 1
A time-of-flight-based hand posture database for human-machine interaction 基于飞行时间的人机交互手势数据库
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838613
Thomas Kopinski, A. Gepperth, U. Handmann
{"title":"A time-of-flight-based hand posture database for human-machine interaction","authors":"Thomas Kopinski, A. Gepperth, U. Handmann","doi":"10.1109/ICARCV.2016.7838613","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838613","url":null,"abstract":"We present a publicly available benchmark database for the problem of hand posture recognition from noisy depth data and fused RGB-D data obtained from low-cost time-of-flight (ToF) sensors. The database is the most extensive database of this kind containing over a million data samples (point clouds) recorded from 35 different individuals for ten different static hand postures. This captures a great amount of variance, due to person-related factors, but also scaling, translation and rotation are explicitly represented. Benchmark results achieved with a standard classification algorithm are computed by cross-validation both over samples and persons, the latter implying training on all persons but one and testing on the remaining one. An important result using this database is that cross-validation performance over samples (which is the standard procedure in machine learning) is systematically higher than cross-validation performance over persons, which is to our mind the true application-relevant measure of generalization performance.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"108 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":"115675481","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: 7
An efficient approach of map-learning on service robot in complex office environment using laser radar 基于激光雷达的复杂办公环境下服务机器人地图学习方法
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838858
Youfang Lin, Siqiao Wu, Xiangpeng Bai
{"title":"An efficient approach of map-learning on service robot in complex office environment using laser radar","authors":"Youfang Lin, Siqiao Wu, Xiangpeng Bai","doi":"10.1109/ICARCV.2016.7838858","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838858","url":null,"abstract":"This paper presents an efficient approach to simultaneous localization and mapping problems (SLAM) in complex office environment for a service robot without the capability of self-localization but equipped with a 2D laser radar. We propose a model of multi-layer bipartite graph of boundary segments extracted from successive data frames. To eliminate the cumulative errors caused by dead reckoning and radar itself, we introduce an error vector model defined between two successive layers and correct each data frame based on error vectors. The experimental results in a real office environment show that the approach we proposed can effectively reduce the cumulative errors during localization and mapping.","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":"114392356","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: 1
Reduced-order modeling of commensurate fractional-order systems 相称分数阶系统的降阶建模
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838855
Sahaj Saxena, V. Yogesh, Pushkar Prakash Arya
{"title":"Reduced-order modeling of commensurate fractional-order systems","authors":"Sahaj Saxena, V. Yogesh, Pushkar Prakash Arya","doi":"10.1109/ICARCV.2016.7838855","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838855","url":null,"abstract":"This paper proposes a new method of finding reduced-order model of a commensurate fractional-order (FO) system. The FO system is first converted to integer-order (IO) and then a mixed method of model-order reduction (MOR) scheme is applied. In this scheme, the denominator is obtained using time-moment matching method and the numerator is determined using the recently developed big bang-big crunch (BB-BC) optimization algorithm. This formulated reduced-order model is reconverted into its commensurate form of FO model. Three examples are presented to validate and illustrate the efficacy of the proposed approach.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"1034 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":"116263127","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
Effect of ZMP relaxation on time optimal problem of a walking biped ZMP松弛对双足步行时间最优问题的影响
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838812
Tara Farizeh, M. Sadigh
{"title":"Effect of ZMP relaxation on time optimal problem of a walking biped","authors":"Tara Farizeh, M. Sadigh","doi":"10.1109/ICARCV.2016.7838812","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838812","url":null,"abstract":"Human walking is a complex locomotion that benefits from falling like attribute to perform forward movement. \"Zero Moment Point\" method (ZMP) is one of the most simple and practical criteria in the field of bipedal walking to assure the dynamic balance. However, this method is highly conservative and bipedal walking according to this criterion is not optimal in comparison with actual human walking. Hence, in this paper, the necessity of considering ZMP criterion in a time optimal problem of walking (which considers natural pattern of human motion for solving the problem), is investigated by relaxation of ZMP. It is assumed that the supporting polygon to encircle the ZMP is expanded virtually step by step. The necessity of enforcing the ZMP criterion to solve such a problem is strongly questioned because of the behavior of the system under relaxation of ZMP and the significant effect of relaxation on the highest achievable speed of walking.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"148 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":"123496739","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
Model predictive flocking control for the Cucker-Smale multi-agent model cucker - small多智能体模型的模型预测群集控制
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838658
Wei Wu, Bin Liu, Hai-Tao Zhang
{"title":"Model predictive flocking control for the Cucker-Smale multi-agent model","authors":"Wei Wu, Bin Liu, Hai-Tao Zhang","doi":"10.1109/ICARCV.2016.7838658","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838658","url":null,"abstract":"This paper develops a model predictive flocking control scheme for the Cucker-Smale multi-agent model. A decentralized controller is designed based only on neighboring measurements. Connectivity conditions are established for guaranteeing the convergence to a rigid flock. Finally, numerical simulation demonstrates the effectiveness of the control scheme.","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":"122560758","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
Systematic analysis of transparency in the gait rehabilitation device the FLOAT 透明步态康复装置FLOAT的系统分析
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838710
M. Bannwart, M. Bolliger, P. Lutz, M. Gantner, G. Rauter
{"title":"Systematic analysis of transparency in the gait rehabilitation device the FLOAT","authors":"M. Bannwart, M. Bolliger, P. Lutz, M. Gantner, G. Rauter","doi":"10.1109/ICARCV.2016.7838710","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838710","url":null,"abstract":"Increasing the transparency of robotic systems used for gait rehabilitation can improve training of various daily activities such as walking or balancing. However, until today, there has been very little effort invested in a systematic analysis of occurring unwanted interaction forces between the patient and the robot. In this paper, we have developed such a setup for systematic analysis and quantification of interaction forces between the gait rehabilitation device the FLOAT and the patient. The results of our analysis show that our setup is capable of quantifying small interaction forces and movement effects under different, precisely controllable experimental conditions. Measured interaction forces of the FLOAT were found to be small and in the range of 3.3 N at low body weight support (52 N) to 17.6 N at high body weight support (376 N) when moving with constant velocity. In addition, deviations of the measured forces in the FLOAT ranged from 2 to 5 N. In combination with additional measurements that investigate other robot workspace locations and movement directions these results will help to understand the influence of unwanted interaction forces on patient recovery.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"48 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":"122667609","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: 10
Multi-agent flocking via generalized control algorithms: Existence and properties 基于广义控制算法的多智能体群集:存在性与性质
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838820
Jun Zhou, Huimin Qian, Xinbiao Lu
{"title":"Multi-agent flocking via generalized control algorithms: Existence and properties","authors":"Jun Zhou, Huimin Qian, Xinbiao Lu","doi":"10.1109/ICARCV.2016.7838820","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838820","url":null,"abstract":"In this paper, we propose a class of generalized flocking algorithms based on the Olfati-Saber's results for self-driving multi-agent networks by introducing some metric weighting matrix and leader-agent-related navigation-weighting coefficients, in which the multi-agents are also driven by distributed continuous-time control algorithms that are defined merely by local position and velocity measurements of neighboring multi-agents as usual. It is shown that the concerned multi-agent systems eventually run into what we call the generalized α-lattice flocking by means of the generalized algorithms, while flocking lattice geometries such as direction variation and lattice deformation (say, shrinkage and enlargement) can be achieved by choosing the weighting matrix and the leader agent coefficients. In the process of flocking, the whole multi-agent system satisfies the Reynold's principles of flocking aggregation, collision avoidance and velocity matching, while possible inter-agent collision is also verified by means of the variation-of-constants formula when initially the agents are aggregative too densely.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"429 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":"122876715","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: 1
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