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Single Image Dehazing Using Local Detail Enhancement 使用局部细节增强的单个图像去雾
2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837258
J. Ok, T. Jeong, C. Lee
{"title":"Single Image Dehazing Using Local Detail Enhancement","authors":"J. Ok, T. Jeong, C. Lee","doi":"10.1109/MED54222.2022.9837258","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837258","url":null,"abstract":"Most existing single image dehazing algorithms require the estimation of atmospheric light using simple procedures based on error-prone assumptions. In this letter, a new dehazing method based on local detail enhancement is proposed to estimate atmospheric light and transmission map by considering local detail enhanced images as quasi-haze-free images. The proposed method is based on the decomposition model that interprets the transmission map as a base layer and the haze-free image as a detail-like layer. From a hazy image, local detail information is extracted using the local detail enhancement approach based on an edge preserving filter. Then, atmospheric lights and transmission maps for each color channel are estimated using Koschmieder’s law. The transmission map is refined using the dark channel prior and a guided filter. The experimental results show the proposed method can remove the layer of haze effectively and produce better performance than existing dehazing methods.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"38 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":"127047262","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
An Adaptive 3D Artificial Potential Field for Fail-safe UAV Navigation 无人机故障安全导航的自适应三维人工势场
2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837223
B. Lindqvist, Jakub Haluška, C. Kanellakis, G. Nikolakopoulos
{"title":"An Adaptive 3D Artificial Potential Field for Fail-safe UAV Navigation","authors":"B. Lindqvist, Jakub Haluška, C. Kanellakis, G. Nikolakopoulos","doi":"10.1109/MED54222.2022.9837223","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837223","url":null,"abstract":"This article presents an obstacle avoidance framework for unmanned aerial vehicles (UAVs), with a focus on providing safe and stable local navigation in critical scenarios. The framework is based on enhanced artificial potential field (APF) concepts, and is paired with a nonlinear model predictive controller (NMPC) for complete local reactive navigation. This paper will consider a series of additions to the classical artificial potential field that addresses UAV-specific challenges, allows for smooth navigation in tightly constrained environments, and ensures safe human-robot interactions. The APF formulation is fundamentally based on using raw LiDAR pointcloud data as input to decouple the safe robot navigation problem from the reliance on any map or obstacle detection software, resulting in a very resilient and fail-safe framework that can be used as an additional safety layer for any 3D-LiDAR equipped UAV in any environment or mission scenario. We evaluate the scheme in both laboratory experiments and field trials, and also place a large emphasis on realistic scenarios for safe human-robot interactions.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"54 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":"122029361","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: 6
Embedded GPU based autonomous robot use cases 基于嵌入式GPU的自主机器人用例
2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837193
Szilárd Molnár, Lucaci Adrian Romulus, L. Tamás
{"title":"Embedded GPU based autonomous robot use cases","authors":"Szilárd Molnár, Lucaci Adrian Romulus, L. Tamás","doi":"10.1109/MED54222.2022.9837193","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837193","url":null,"abstract":"Recent advances in embedded GPU solutions allow the use of these devices for onboard mobile robotics applications. The focus of this paper is on the implementation and validation of navigation tasks for various autonomous mobile robot platforms. These platforms include ground vehicles, aerial vehicles, and mobile manipulators. The main challenge for these implementations was the feasibility of the adopted solutions on embedded platforms with dedicated GPUs. As each of our solutions contains deep neural networks, the existence of an embedded GPU is a must. We evaluated several different boards for our solutions with various experimental setups. The code and datasets for the demos are available on author’s home page.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"51 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":"125765722","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
Metropolis II: Investigating the Future Shape of Air Traffic Control in Highly Dense Urban Airspace 大都市II:高密度城市空域空中交通管制的未来形态研究
2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837201
N. Patrinopoulou, Ioannis Daramouskas, V. Lappas, V. Kostopoulos, A. M. Veytia, C. A. Badea, J. Ellerbroek, J. Hoekstra, V. Vries, J. V. Ham, E. Sunil, P. M. P. Alonso, J. P. Gonzalez, D. Bereziat, A. Vidosavljevic, L. Sedov
{"title":"Metropolis II: Investigating the Future Shape of Air Traffic Control in Highly Dense Urban Airspace","authors":"N. Patrinopoulou, Ioannis Daramouskas, V. Lappas, V. Kostopoulos, A. M. Veytia, C. A. Badea, J. Ellerbroek, J. Hoekstra, V. Vries, J. V. Ham, E. Sunil, P. M. P. Alonso, J. P. Gonzalez, D. Bereziat, A. Vidosavljevic, L. Sedov","doi":"10.1109/MED54222.2022.9837201","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837201","url":null,"abstract":"Metropolis II aims to provide insights in what is needed to enable high-density urban air operations. It does this by investigating the foundation for U-space U3/U4 services. The final goal is to provide a unified approach for strategic deconfliction, tactical deconfliction, and dynamic capacity management. Highly-dense operations in constrained urban airspace will likely require a degree of complexity that does not exist in modern-day air traffic management. The expected high traffic demand will require a shared use of the airspace instead of assigning exclusive use of blocks of the airspace to some flights. A unified approach for traffic management is needed because at high-densities, airspace design, flight planning, and separation management become increasingly interdependent. Metropolis II builds upon the results of the first Metropolis project. Three concepts with a varying degree of centralisation will be compared using simulations. (1) The centralised concept will take a global approach for separation management. (2) The decentralised concept aims to give the individual agents separation responsibility. (3) The hybrid concept tries to combine a centralised strategic planning agent with a robust tactical separation strategy.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"18 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":"127481941","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
Simulation-Based Debugging of Formal Environment Models* 基于仿真的正式环境模型调试*
2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837055
Tim Meywerk, Arthur Niedzwiecki, V. Herdt, R. Drechsler
{"title":"Simulation-Based Debugging of Formal Environment Models*","authors":"Tim Meywerk, Arthur Niedzwiecki, V. Herdt, R. Drechsler","doi":"10.1109/MED54222.2022.9837055","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837055","url":null,"abstract":"Logic-based formal models of robot environments are often used to aid the generation and verification of robotic plans. They are however often simplified and rather abstract compared to the real world that the robot acts in. This can lead to considerable discrepancies between the behavior of the formal model and that of physics-based simulation engines. These discrepancies are not always apparent to the designer. In this paper we propose a new methodology to make these discrepancies explicit by combining formal verification and simulation. Our approach is able to find relevant discrepancies, while only requiring a small number of simulations.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"147 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":"126418185","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
Decentralized Federated Learning for Nonintrusive Load Monitoring in Smart Energy Communities 智能能源社区非侵入式负荷监测的分散联邦学习
2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837291
A. Giuseppi, S. Manfredi, Danilo Menegatti, A. Pietrabissa, Cecilia Poli
{"title":"Decentralized Federated Learning for Nonintrusive Load Monitoring in Smart Energy Communities","authors":"A. Giuseppi, S. Manfredi, Danilo Menegatti, A. Pietrabissa, Cecilia Poli","doi":"10.1109/MED54222.2022.9837291","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837291","url":null,"abstract":"Federated Learning is a distributed learning solution for machine learning problems without the need of collecting the available data in a single centralized data centre. With the standard FL approaches, model training is performed locally and a centralized server collects and elaborates the trainable parameters of the local models: even if data are not shared, the presence of the centralized server still rises trust and security issues. In this work, we introduce the Decentralized Federated Learning (DECFEDAVG) algorithm, which aims at achieving complete decentralization by the lack of a coordination server, and compare its performance against the original federated learning algorithm Federated Averaging (FEDAVG) over the Nonintrusive Load Monitoring problem.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"12 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":"124192278","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
Comparison of Cellular Network Controllers for Quadrotors Experiencing Time Delay 四旋翼机时延控制的蜂窝网络控制器比较
2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837234
M. T. Ramezanlou, H. Schwartz, I. Lambadaris, M. Barbeau
{"title":"Comparison of Cellular Network Controllers for Quadrotors Experiencing Time Delay","authors":"M. T. Ramezanlou, H. Schwartz, I. Lambadaris, M. Barbeau","doi":"10.1109/MED54222.2022.9837234","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837234","url":null,"abstract":"This paper presents a control framework including delay estimator, state estimator, and controller to compensate for random time delays in cellular networks. The effect of network delay on the control of a quadrotor is investigated. A comparative study is done between a linear-based PD and nonlinear Backstepping controller. A time delay estimator based on the Markov stochastic model is developed. The combination of the time delay estimator and the state estimator is used to compute the control signal. Results show that the performance of both controllers in low-variation delays is approximately equivalent. According to the results, the linear-based PD controller is a good choice since it satisfies the problem conditions with a more straightforward design process.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"199 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":"122564675","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
A Generalized Distributed Analysis and Control Synthesis Approach for Networked Systems with Arbitrary Interconnections 任意互连网络系统的广义分布式分析与控制综合方法
2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.48550/arXiv.2204.09756
Shirantha Welikala, Hai Lin, P. Antsaklis
{"title":"A Generalized Distributed Analysis and Control Synthesis Approach for Networked Systems with Arbitrary Interconnections","authors":"Shirantha Welikala, Hai Lin, P. Antsaklis","doi":"10.48550/arXiv.2204.09756","DOIUrl":"https://doi.org/10.48550/arXiv.2204.09756","url":null,"abstract":"We consider the problem of distributed analysis and control synthesis to verify and ensure properties like stability and dissipativity of a large-scale networked system comprised of linear subsystems interconnected in an arbitrary topology. In particular, we design systematic networked system analysis and control synthesis processes that can be executed in a distributed manner at the subsystem level with minimal information sharing among the subsystems. Compared to recent work in the literature, we consider a substantially more generalized problem setup and develop distributed processes to verify and ensure a broader range of properties. We show that optimizing subsystems’ indexing scheme used in such distributed processes can substantially reduce the required information-sharing sessions between subsystems. We also show that sharing information among the neighboring subsystems is sufficient for the proposed distributed processes in some network topologies. Moreover, the proposed distributed processes are compositional and thus allow them to conveniently and efficiently handle situations where new subsystems are being added to an existing network. We also provide significant insights into our approach so that it can be quickly adopted to verify and ensure properties beyond the stability and dissipativity of networked systems. Finally, we provide a numerical example to demonstrate the proposed distributed processes and highlight our contributions.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"26 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":"131472321","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
Sampled-Data Controllers for Autonomous Vehicles on Lane-Free Roads 无车道道路自动驾驶车辆的采样数据控制器
2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837160
D. Theodosis, Filippos N. Tzortzoglou, I. Karafyllis, I. Papamichail, M. Papageorgiou
{"title":"Sampled-Data Controllers for Autonomous Vehicles on Lane-Free Roads","authors":"D. Theodosis, Filippos N. Tzortzoglou, I. Karafyllis, I. Papamichail, M. Papageorgiou","doi":"10.1109/MED54222.2022.9837160","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837160","url":null,"abstract":"In this paper, we design decentralized control strategies (per vehicle) for the two-dimensional movement of autonomous vehicles on lane-free roads, where each vehicle determines its control input based on its own state and the relative speeds and distances from adjacent vehicles and from the boundaries of the road. It is shown that the vehicles do not collide with each other or with the road boundaries, and all vehicle speeds converge to a given longitudinal speed set-point. Moreover, we present sufficient conditions for the emulated (sampled-data) controllers that ensure collision avoidance between vehicles and with the road boundaries, as well as speed positivity, bounded speed and bounded orientation of the vehicles. Finally, we numerically investigate the maximum allowable sampling period and present periodic and non-periodic sampling algorithms where each vehicle has its own sampling period.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"25 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":"131881038","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: 3
A Deep Reinforcement Learning Motion Control Strategy of a Multi-rotor UAV for Payload Transportation with Minimum Swing 多旋翼无人机最小摆幅载荷运输的深度强化学习运动控制策略
2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837220
Fotis Panetsos, G. Karras, K. Kyriakopoulos
{"title":"A Deep Reinforcement Learning Motion Control Strategy of a Multi-rotor UAV for Payload Transportation with Minimum Swing","authors":"Fotis Panetsos, G. Karras, K. Kyriakopoulos","doi":"10.1109/MED54222.2022.9837220","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837220","url":null,"abstract":"This paper addresses the problem of controlling a multirotor UAV with a cable-suspended load. In order to ensure the safe transportation of the load, the swinging motion, induced by the strongly coupled dynamics, has to be minimized. Specifically, using the Twin Delayed Deep Deterministic Policy Gradient (TD3) Reinforcement Learning algorithm, a policy Neural Network is trained in a model-free manner which navigates the vehicle to the desired waypoints while, simultaneously, compensating for the load oscillations. The learned policy network is incorporated into the cascaded control architecture of the autopilot by replacing the common PID position controller and, thus, communicating directly with the inner attitude one. The performance of the proposed policy is demonstrated through a comparative simulation and experimental study while using an octorotor UAV.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"96 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":"130797544","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: 3
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