2022 30th Mediterranean Conference on Control and Automation (MED)最新文献_第3页

Self triggered controller co-design using LASSO regression LASSO回归自触发控制器协同设计

2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837186

L. Etienne, K. Langueh, L. Rajaoarisoa

引用次数: 0

Overlapping Internal Boundary Control of Lane-free Automated Vehicle Traffic with State and Input Inclusion * 包含状态和输入的无车道自动车辆交通重叠内边界控制*

2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837257

M. Malekzadeh, I. Papamichail, M. Papageorgiou

{"title":"Overlapping Internal Boundary Control of Lane-free Automated Vehicle Traffic with State and Input Inclusion *","authors":"M. Malekzadeh, I. Papamichail, M. Papageorgiou","doi":"10.1109/MED54222.2022.9837257","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837257","url":null,"abstract":"Lane-free vehicle driving has been recently proposed for connected automated vehicles. Lane-free traffic implies that incremental changes of the road width lead to corresponding incremental changes of the traffic flow capacity. Internal boundary control (IBC) was introduced to flexibly share the total road width and capacity among the two traffic directions of a highway in real-time, so as to maximize the cross-road infrastructure utilization. Centralized solutions, requiring information from the whole highway stretch under consideration, have already been proposed, which, however, may be problematic for long highways with respect to the required communications and physical system architecture in real-time operation. This paper introduces an overlapping decentralized control scheme for IBC of lane-free automated vehicle traffic, based on a contractible controller, which is designed in a decomposed way (per subsystem) for an extended system. Simulation investigations, involving a realistic highway stretch and demand scenario, demonstrate that the proposed decentralized regulator is similarly efficient as the centralized solutions.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115122119","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 Framework for Active Vision-Based Robot Planning using Spiking Neural Networks 基于脉冲神经网络的主动视觉机器人规划框架

2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837132

Katerina Maria Oikonomou, Ioannis Kansizoglou, A. Gasteratos

引用次数: 1

Finite and Fixed Time Semistability and Consensus for Nonlinear Discrete-Time Network Systems 非线性离散网络系统的有限和固定时间半稳定性与一致性

2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837233

Junsoo Lee, W. Haddad

引用次数: 0

On the Design of Coordinated Impedance Control Laws for De-orbiting and De-Spinning of Cooperative Satellites* 合作卫星离轨与自旋协调阻抗控制律设计研究*

2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837266

Kostas Nanos, E. Papadopoulos

引用次数: 0

Combined observer design for road vehicles using LPV-based and learning-based methods 基于lpv和基于学习的道路车辆联合观测器设计

2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837151

Dániel Fényes, T. Hegedüs, B. Németh

引用次数: 0

Trajectory Tracking and Fault Detection of Underactuated USVs based on Nonlinear Model Predictive Control and Moving Horizon Estimation 基于非线性模型预测控制和运动水平估计的欠驱动usv轨迹跟踪与故障检测

2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837255

George Rossides, Christos C. Constantinou

引用次数: 1

BK tree indexing for active vision-based loop-closure detection in autonomous navigation 自主导航中基于主动视觉的闭环检测的BK树索引

2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837138

Konstantinos A. Tsintotas, V. Sevetlidis, I. Papapetros, Vasiliki Balaska, A. Psomoulis, A. Gasteratos

{"title":"BK tree indexing for active vision-based loop-closure detection in autonomous navigation","authors":"Konstantinos A. Tsintotas, V. Sevetlidis, I. Papapetros, Vasiliki Balaska, A. Psomoulis, A. Gasteratos","doi":"10.1109/MED54222.2022.9837138","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837138","url":null,"abstract":"Aiming to recognize familiar places through the camera measurements during a robot’s autonomous mission, visual loop-closure pipelines are developed for navigation frameworks. This is because the main objective for any simultaneous localization and mapping (SLAM) system is its consistent map generation. However, methods based on active vision tend to attract the researchers’ attention mainly due to their offered possibilities. This paper proposes a BK-tree structure for a visual loop-closure pipeline’s generated database when active vision is adopted. This way, we address the drawback of scalability in terms of timing occurring when querying the map for similar locations while high performances and the online nature of the system are maintained. The proposed method is built upon our previous work for visual place recognition, that is, the incremental bag-of-tracked-words. The proposed technique is evaluated on two publicly-available image-sequences. The one is recorded via an unmanned aerial vehicle (UAV) and selected due to its active vision characteristics, while the second is registered via a car; still, it is chosen as it is among the most extended datasets in visual loop-closure detection. Our experiments on an entry-level system show high recall scores for each evaluated environment and response time that satisfies real-time constraints.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"125 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127464483","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

A design and simulation of a target detection, tracking and localisation system for UAVs 一种无人机目标探测、跟踪和定位系统的设计和仿真

2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837230

Ioannis Daramouskas, N. Patrinopoulou, Dimitrios Meimetis, V. Lappas, V. Kostopoulos

{"title":"A design and simulation of a target detection, tracking and localisation system for UAVs","authors":"Ioannis Daramouskas, N. Patrinopoulou, Dimitrios Meimetis, V. Lappas, V. Kostopoulos","doi":"10.1109/MED54222.2022.9837230","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837230","url":null,"abstract":"In computer vision multiple-object detection has gain significant interest by the researchers the last decade through the evolution in the field of deep learning. Nowadays, there are many architectures achieving great accuracy in detecting multiple objects in an image. On the other hand, tracking the detecting objects remains a very difficult task and still a lot of effort is provided in that field. In general, multiple-object detection, recognition and tracking are quite desired in many domains and applications. This paper presents a target detection, tracking and localisation solution for UAVs using optical cameras. A custom object detection model, based on YOLOv4-tiny, was developed based on YOLOv4-tiny and its performance was compared against YOLOv4-tiny and YOLOv4-608. While the target track algorithm in use is base on Deep SORT, providing state of the art tracking. The presented localisation method is capable of determining the position of ground targets, detected from the custom object detection model, with great accuracy. Finally, a guidance methodology is presented, responsible for creating real-time movement commands for the UAV to follow a selected target and provide coverage over him. The overall system was tested using Software-In-The-Loop (SITL) simulation in Gazebo with up to four UAVs.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122363136","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

Assessment of Initial-State-Opacity in Live Bounded and Reversible Discrete Event Systems via Integer Linear Programming 用整数线性规划评估活有界可逆离散事件系统的初始状态不透明性

2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837143

F. Basile, G. Tommasi, Carlo Motta, A. Petrillo, S. Santini

引用次数: 0