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2023 31st Mediterranean Conference on Control and Automation (MED)最新文献

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UAV-based system for real-time wildfire perimeter propagation tracking 基于无人机的野火周边实时传播跟踪系统
2023 31st Mediterranean Conference on Control and Automation (MED) Pub Date : 2023-06-26 DOI: 10.1109/MED59994.2023.10185693
Constantinos Heracleous, P. Kolios, C. Panayiotou
{"title":"UAV-based system for real-time wildfire perimeter propagation tracking","authors":"Constantinos Heracleous, P. Kolios, C. Panayiotou","doi":"10.1109/MED59994.2023.10185693","DOIUrl":"https://doi.org/10.1109/MED59994.2023.10185693","url":null,"abstract":"Real-time wildfire perimeter tracking provides situational awareness and enhances decision-making during firefighting. This paper proposes a UAV-based system that integrates real-time data collection (using onboard sensors) into a fire propagation model to provide accurate state information on the wildfire perimeter and improve fire prediction. Firstly, a data fusion scheme is devised to employ available historical data in combination with real-time measurements to provide updated inputs to the fire propagation model. Then the model is used to predict the future fire perimeter and uses these predictions to guide the UAV to track the fire perimeter better. The proposed system is evaluated in extensive simulation experiments, demonstrating its effectiveness for real-time wildfire perimeter propagation tracking.","PeriodicalId":270226,"journal":{"name":"2023 31st Mediterranean Conference on Control and Automation (MED)","volume":"95 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122029287","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
Modelling and workspace analysis for an underwater manipulator* 水下机械臂建模与工作空间分析*
2023 31st Mediterranean Conference on Control and Automation (MED) Pub Date : 2023-06-26 DOI: 10.1109/MED59994.2023.10185767
Sven Lack, Erik Rentzow, T. Jeinsch
{"title":"Modelling and workspace analysis for an underwater manipulator*","authors":"Sven Lack, Erik Rentzow, T. Jeinsch","doi":"10.1109/MED59994.2023.10185767","DOIUrl":"https://doi.org/10.1109/MED59994.2023.10185767","url":null,"abstract":"Manipulation tasks in underwater operations were so far only realizable with large work class remotely operated vehicles (ROV). However, new developments in the field of miniaturized fully-electric multi-joint manipulators are opening up applications for small and medium size ROVs. Despite miniaturization of the manipulators, the manipulator-to-vehicle ratio is not identical to that of large work class ROVs. Coupling effects between manipulator and vehicle must be taken into account to ensure good controller performance of the position and attitude of the vehicle and the tool center point (TCP) of the manipulator. In this paper, the modelling of an underwater manipulator based on an extended Newton-Euler method is presented. The proposed method is applied to a Reach Alpha 5 manipulator and validated by static measurements. Further-more, a method for collision detection between arm parts is presented and applied to the Reach Alpha 5 for workspace analysis.","PeriodicalId":270226,"journal":{"name":"2023 31st Mediterranean Conference on Control and Automation (MED)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124461937","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
Improved Dynamic Event-Triggered Consensus Control for Multi-Agent Systems with Designable Inter-Event Time* 具有可设计事件间时间的多智能体系统的改进动态事件触发一致性控制
2023 31st Mediterranean Conference on Control and Automation (MED) Pub Date : 2023-06-26 DOI: 10.1109/MED59994.2023.10185702
Zeyuan Wang, M. Chadli
{"title":"Improved Dynamic Event-Triggered Consensus Control for Multi-Agent Systems with Designable Inter-Event Time*","authors":"Zeyuan Wang, M. Chadli","doi":"10.1109/MED59994.2023.10185702","DOIUrl":"https://doi.org/10.1109/MED59994.2023.10185702","url":null,"abstract":"This paper considers the leader-following consensus control for linear multi-agent systems. Two improved dynamic event-triggered control frameworks are proposed. The first one is based on a moving average approach, whereas the second is a fully-distributed control scheme based on a well-chosen Lyapunov function with rigorous proof of adjustable inter-event time. The proposed methods involve model-based estimation and clock-like auxiliary dynamic variables to increase the inter-event time as long as possible eventually. Compared to the static event-triggered strategy and the existing state-of-the-art dynamic event-triggered mechanism, the proposed approach significantly reduces the communication frequency while still guaranteeing asymptotic convergence. Numerical simulations demonstrate the validity of the proposed theoretical results.","PeriodicalId":270226,"journal":{"name":"2023 31st Mediterranean Conference on Control and Automation (MED)","volume":"84 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125935680","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
Robust Compensation of External Disturbances for A Class of Linear Systems with State-Delay 一类状态时滞线性系统外部扰动的鲁棒补偿
2023 31st Mediterranean Conference on Control and Automation (MED) Pub Date : 2023-06-26 DOI: 10.1109/MED59994.2023.10185744
Huan V. Bui, A. Margun, A. Kremlev, D. Dobriborsci
{"title":"Robust Compensation of External Disturbances for A Class of Linear Systems with State-Delay","authors":"Huan V. Bui, A. Margun, A. Kremlev, D. Dobriborsci","doi":"10.1109/MED59994.2023.10185744","DOIUrl":"https://doi.org/10.1109/MED59994.2023.10185744","url":null,"abstract":"The problem of unknown external disturbances compensation for a class of linear systems with an unmeasured and delayed state is considered. The proposed solution is based on the use of the internal model principle and the extended error adaptation algorithm. It is assumed that the disturbance is the output of an autonomous linear generator with unknown parameters. A special observer is constructed to estimate the disturbance. The proposed approach does not require identification of the disturbance parameters. It is shown that in the presence of any state delay, the control algorithm preserves the stability of the closed-loop system. The performance of the obtained result is confirmed using computer simulation.","PeriodicalId":270226,"journal":{"name":"2023 31st Mediterranean Conference on Control and Automation (MED)","volume":"121 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126001454","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
Adaptive Distributed PI-like Control Protocol for the Virtual Coupling of Connected Heterogeneous Uncertain Nonlinear High-Speed Trains 互联异构不确定非线性高速列车虚拟耦合的自适应分布式类pi控制协议
2023 31st Mediterranean Conference on Control and Automation (MED) Pub Date : 2023-06-26 DOI: 10.1109/MED59994.2023.10185892
Giacomo Basile, Dario Giuseppe Lui, A. Petrillo, S. Santini
{"title":"Adaptive Distributed PI-like Control Protocol for the Virtual Coupling of Connected Heterogeneous Uncertain Nonlinear High-Speed Trains","authors":"Giacomo Basile, Dario Giuseppe Lui, A. Petrillo, S. Santini","doi":"10.1109/MED59994.2023.10185892","DOIUrl":"https://doi.org/10.1109/MED59994.2023.10185892","url":null,"abstract":"Virtual Coupling has been included among the most relevant innovations to be studied in the European Horizon 2020 Shift2Rail Joint Undertaking for increasing the railway lines capacity through the dynamic connection of two or more trains to form a convoy while preserving safety. Within this framework, this paper addresses the virtual coupling control problem for heterogeneous nonlinear uncertain connected high-speed trains. Leveraging the Multi-Agent Systems framework, a novel distributed robust and adaptive PI-like control scheme is proposed to solve the control problem. In order to provide suitable adaptive mechanisms for the control gains, we exploit the Lyapunov theory and Barbalat’s lemma and prove the asymptotic stability for the overall networked control system, as well as the boundedness of these signals. The virtual coupling objective is achieved in a fully-distributed fashion by limiting the amount of time-varying information necessary for the computation of the control action and, hence, saving communication channel bandwidth while reducing the computational burden. Exemplary numerical simulations are given to support the theoretical derivations and to prove the effectiveness of the proposed control strategy in a real driving scenario.","PeriodicalId":270226,"journal":{"name":"2023 31st Mediterranean Conference on Control and Automation (MED)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128491302","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
Platoons Coordination Based on Decentralized Higher Order Barrier Certificates 基于分散高阶屏障证书的队列协调
2023 31st Mediterranean Conference on Control and Automation (MED) Pub Date : 2023-06-26 DOI: 10.1109/MED59994.2023.10185642
M. Sharifi, Dimos V. Dimarogonas
{"title":"Platoons Coordination Based on Decentralized Higher Order Barrier Certificates","authors":"M. Sharifi, Dimos V. Dimarogonas","doi":"10.1109/MED59994.2023.10185642","DOIUrl":"https://doi.org/10.1109/MED59994.2023.10185642","url":null,"abstract":"This paper presents control strategies based on time-varying convergent higher order control barrier functions for the coordination of networks of platoons. This network could be modelled by a class of leader-follower multi-agent systems, where the leaders have knowledge on the associated tasks and control the performance of their platoon involved vehicles. The followers are not aware of the tasks, and do not have any control authority to reach them. They follow their platoon leader commands for the task satisfaction. Signal temporal logic (STL) tasks are defined for the platoons coordination. Robust solutions for the task satisfaction, based on the leader’s accessibility to the follower vehicles’ states are suggested. In addition, using the notion of higher order barrier functions, decentralized barrier certificates for each vehicle evolving in a formation dynamic structure are proposed. Our approach finds solutions to guarantee the satisfaction of STL tasks independent of the agents’ initial conditions.","PeriodicalId":270226,"journal":{"name":"2023 31st Mediterranean Conference on Control and Automation (MED)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127330205","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
FedAcc and FedAccSize: Aggregation Methods for Federated Learning Applications FedAcc和FedAccSize:联邦学习应用的聚合方法
2023 31st Mediterranean Conference on Control and Automation (MED) Pub Date : 2023-06-26 DOI: 10.1109/MED59994.2023.10185810
Iuliana Bejenar, L. Ferariu, C. Pascal, C. Caruntu
{"title":"FedAcc and FedAccSize: Aggregation Methods for Federated Learning Applications","authors":"Iuliana Bejenar, L. Ferariu, C. Pascal, C. Caruntu","doi":"10.1109/MED59994.2023.10185810","DOIUrl":"https://doi.org/10.1109/MED59994.2023.10185810","url":null,"abstract":"This paper presents the ability of the federated learning concept to create a collaboration between multiple devices using a shared global model, while still keeping data privacy to meet the General Data Protection Regulation (GDPR). In real-world application scenarios, this concept faces problems related to the defense of the global model from possible attacks and the compatibility with non-independent and identically distributed data (non-IID). This paper presents two aggregation algorithms compatible with non-IID data, which use a refined aggregation of the local model, based on their accuracy. Thus, the proposed algorithms can refine the confidence in each client, eliminate intruders and allow a safe aggregation of the global model. Testing scenarios performed for IID and non-IID data illustrate that the proposed algorithms are able to provide faster training and improved robustness against intruders, w.r.t. the well-known federated average algorithm.","PeriodicalId":270226,"journal":{"name":"2023 31st Mediterranean Conference on Control and Automation (MED)","volume":"73 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130935005","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
Adaptive speed control of ROVs with experimental results from an aquaculture net pen inspection operation 机器人自适应速度控制与水产养殖网栏检查实验结果
2023 31st Mediterranean Conference on Control and Automation (MED) Pub Date : 2023-06-26 DOI: 10.1109/MED59994.2023.10185714
S. J. Ohrem, L. D. Evjemo, B. A. Haugaløkken, H. B. Amundsen, E. Kelasidi
{"title":"Adaptive speed control of ROVs with experimental results from an aquaculture net pen inspection operation","authors":"S. J. Ohrem, L. D. Evjemo, B. A. Haugaløkken, H. B. Amundsen, E. Kelasidi","doi":"10.1109/MED59994.2023.10185714","DOIUrl":"https://doi.org/10.1109/MED59994.2023.10185714","url":null,"abstract":"Remotely operated vehicles (ROVs) are often used for inspection in aquaculture net pens which serves the important purpose of localizing holes in the net and reporting potential irregularities and damages. Manual control of the vehicle inside a net pen, while simultaneously inspecting the net structure, is difficult and puts a lot of stress on the vehicle operators. Adaptation of new solutions that enables autonomous traversal of net pens where the vehicle maintains a fixed distance, heading, and velocity relative to the net is considered essential. One of the main challenges of such autonomous solutions is a robust and tight control of the vehicle’s velocities. To target this challenge, this paper presents adaptive speed controllers for the surge and sway speeds of a remotely operated vehicle with unknown parameters and under the influence of unknown external disturbances. The stability properties of the controllers are proven through Lyapunov theory, and both simulations and field experiments demonstrate their ability to track the desired speeds through the use of a net following scheme.","PeriodicalId":270226,"journal":{"name":"2023 31st Mediterranean Conference on Control and Automation (MED)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126750800","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
Model Predictive Control for Path Following and Collision-Avoidance of Autonomous Ships in Inland Waterways 内河自主船舶路径跟踪与避碰模型预测控制
2023 31st Mediterranean Conference on Control and Automation (MED) Pub Date : 2023-06-26 DOI: 10.1109/MED59994.2023.10185796
Dhanika Mahipala, T. Johansen
{"title":"Model Predictive Control for Path Following and Collision-Avoidance of Autonomous Ships in Inland Waterways","authors":"Dhanika Mahipala, T. Johansen","doi":"10.1109/MED59994.2023.10185796","DOIUrl":"https://doi.org/10.1109/MED59994.2023.10185796","url":null,"abstract":"While existing algorithms for open water navigation typically address path following and COLREGS compliant collision-avoidance, the unique challenges of inland waterways require a more tailored approach. We propose a two-level control strategy that employs Model Predictive Control (MPC) and Scenario-Based Model Predictive Control (SB-MPC) for path following and collision-avoidance. The algorithm proposes integrated strategies for handling riparian land, static obstacles, and dynamic obstacles. The method is tested in simulation","PeriodicalId":270226,"journal":{"name":"2023 31st Mediterranean Conference on Control and Automation (MED)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123363069","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
Distributed Control for 3D Inspection using Multi-UAV Systems 基于多无人机系统的三维检测分布式控制
2023 31st Mediterranean Conference on Control and Automation (MED) Pub Date : 2023-06-26 DOI: 10.1109/MED59994.2023.10185881
A. Zacharia, Savvas Papaioannou, P. Kolios, C. Panayiotou
{"title":"Distributed Control for 3D Inspection using Multi-UAV Systems","authors":"A. Zacharia, Savvas Papaioannou, P. Kolios, C. Panayiotou","doi":"10.1109/MED59994.2023.10185881","DOIUrl":"https://doi.org/10.1109/MED59994.2023.10185881","url":null,"abstract":"Cooperative control of multi-UAV systems has attracted substantial research attention due to its significance in various application sectors such as emergency response, search and rescue missions, and critical infrastructure inspection. This paper proposes a distributed control algorithm to generate collision-free trajectories that drive the multi-UAV system to completely inspect a set of 3D points on the surface of an object of interest. The objective of the UAVs is to cooperatively inspect the object of interest in the minimum amount of time. Extensive numerical simulations for a team of quadrotor UAVs inspecting a real 3D structure illustrate the validity and effectiveness of the proposed approach.","PeriodicalId":270226,"journal":{"name":"2023 31st Mediterranean Conference on Control and Automation (MED)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126372698","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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