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2019 3rd International Symposium on Autonomous Systems (ISAS)最新文献

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Pose Estimation by Key Points Registration in Point Cloud 点云中关键点配准的姿态估计
2019 3rd International Symposium on Autonomous Systems (ISAS) Pub Date : 2019-05-29 DOI: 10.1109/ISASS.2019.8757773
Weiyi Zhang, Chenkun Qi
{"title":"Pose Estimation by Key Points Registration in Point Cloud","authors":"Weiyi Zhang, Chenkun Qi","doi":"10.1109/ISASS.2019.8757773","DOIUrl":"https://doi.org/10.1109/ISASS.2019.8757773","url":null,"abstract":"In 6D pose estimation, both template based or learning based models need template/training data corresponding to different poses. We propose a new model based on point clouds. It needs less training data and therefore is lighter, faster and precise enough for texture-less objects. We first extract key points automatically from the point cloud of the object and then generate rigid transformation invariant point-wise features of the cloud as input feature. Then we use a hierarchical neural network architecture to predict the key points coordinates corresponding to the reference pose. At last we can calculate the relative transformation between the current and the reference poses. The hierarchical structure takes into account the symmetry or invariance problem of certain object geometries.","PeriodicalId":359959,"journal":{"name":"2019 3rd International Symposium on Autonomous Systems (ISAS)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127694139","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
Research on visual multi-target based pose estimation algorithm for ARV underwater docking 基于视觉多目标的ARV水下对接姿态估计算法研究
2019 3rd International Symposium on Autonomous Systems (ISAS) Pub Date : 2019-05-29 DOI: 10.1109/ISASS.2019.8757717
Bingqian Wang, Yuangui Tang, Changming Shi
{"title":"Research on visual multi-target based pose estimation algorithm for ARV underwater docking","authors":"Bingqian Wang, Yuangui Tang, Changming Shi","doi":"10.1109/ISASS.2019.8757717","DOIUrl":"https://doi.org/10.1109/ISASS.2019.8757717","url":null,"abstract":"Underwater docking technology has important scientific significance and practical value. By using ARV to connect with the underwater docking station, on the one hand, the batteries in ARV can be recharged, and the continuous operation capability can be enhanced. On the other hand, the ARV can be used to transmit the data collected by the docking station for a long time. In this paper, a multi-target combined pose estimation algorithm which combined the guide lights and AR markers is proposed to estimate the pose of the ARV. A weight changes with the distance between the camera and the docking port is employed to combine the poses calculated from the AR markers and the lights. Through the pool experiment, the effectiveness of the algorithm is proved in aspects such as pose estimation accuracy, effective distance and estimation success rate.","PeriodicalId":359959,"journal":{"name":"2019 3rd International Symposium on Autonomous Systems (ISAS)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132101816","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
Synchronization of a Class of Nonlinear Multi-Agent Systems 一类非线性多智能体系统的同步
2019 3rd International Symposium on Autonomous Systems (ISAS) Pub Date : 2019-05-29 DOI: 10.1109/ISASS.2019.8757768
Maobin Lu, Lu Liu
{"title":"Synchronization of a Class of Nonlinear Multi-Agent Systems","authors":"Maobin Lu, Lu Liu","doi":"10.1109/ISASS.2019.8757768","DOIUrl":"https://doi.org/10.1109/ISASS.2019.8757768","url":null,"abstract":"In this paper, we study the leader-following synchronization problem for a class of heterogeneous nonlinear multi-agent systems with linearly parameterized uncertainties. The similar problem has been studied recently in some literature. Compared with existing works, our work has the characteristics in that the control law depends on the relative state of the multi-agent system. Thus, it can be adopted without communication of internal state. To solve the problem, we first introduce a class of distributed dynamic compensators, which depends on the relative state of the multi-agent system. Then, to deal with system uncertainties, we design the adaptive distributed control law. Finally, we show that the proposed adaptive distributed control law can solve the synchronization problem of the nonlinear multi-agent systems. The effectiveness of the main result is verified by its application to synchronization control of a group of Van der Pol oscillators.","PeriodicalId":359959,"journal":{"name":"2019 3rd International Symposium on Autonomous Systems (ISAS)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128293403","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
Quantized feedback control for nonlinear feedforward systems with unknown output functions 输出函数未知的非线性前馈系统的量化反馈控制
2019 3rd International Symposium on Autonomous Systems (ISAS) Pub Date : 2019-05-01 DOI: 10.1109/ISASS.2019.8757752
Ping Wang, Chengpu Yu
{"title":"Quantized feedback control for nonlinear feedforward systems with unknown output functions","authors":"Ping Wang, Chengpu Yu","doi":"10.1109/ISASS.2019.8757752","DOIUrl":"https://doi.org/10.1109/ISASS.2019.8757752","url":null,"abstract":"The quantized feedback control is investigated for nonlinear feedforward systems with unknown control coefficients, unknown output functions and input quantization. The unknown output function is Lipschitz continuous but may not be derivable, the unknown control coefficients are assumed to be bounded, and the input quantization is logarithmic. By combining the backstepping method and the sector bound approach, a time-varying quantized feedback controller is designed and a guideline for choosing the parameter of the input quantizer is provided to guarantee the boundedness and convergence of the closed-loop system states. Finally, a simulation example is presented to show the effectiveness of the control scheme.","PeriodicalId":359959,"journal":{"name":"2019 3rd International Symposium on Autonomous Systems (ISAS)","volume":"72 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121059090","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
Recognition of Fatigue Driving Based on Frequency Features of Wearable Device Data 基于可穿戴设备数据频率特征的疲劳驾驶识别
2019 3rd International Symposium on Autonomous Systems (ISAS) Pub Date : 2019-05-01 DOI: 10.1109/ISASS.2019.8757779
Wen, Sun, Zhao, Chen
{"title":"Recognition of Fatigue Driving Based on Frequency Features of Wearable Device Data","authors":"Wen, Sun, Zhao, Chen","doi":"10.1109/ISASS.2019.8757779","DOIUrl":"https://doi.org/10.1109/ISASS.2019.8757779","url":null,"abstract":"Fatigue driving is a primary reason of traffic accidents. Recognition of driver's fatigue state, prompting and supervision in time will effectively reduce traffic accidents. At present, fatigue driving detection methods mainly focus on physiological detection and image recognition. Physiological detection requires more sensors on the tester, which has a great impact on the driver. Image recognition is greatly influenced by environment. Given the growing popularity of wearable smart watches with the capability to detect human hand movements, this paper studies the potential to recognize fatigue driving based on steering operation by using a wearable smart watch. The sensor data used includes acceleration and angular velocity data related to drivers' operation behavior under different states. To eliminate the effect of gravitational acceleration on the data values of acceleration sensor, the coordinate system of acceleration data is transformed to the world's coordinate system. The main advantages of smart watches are that there are many kinds of sensors, low cost and low power consumption. The frequency domain features are obtained by Fourier transform of the data collected by the sensors of Smart Watch, and the feature dimension is reduced to 10 dimensions by principal component analysis. Finally, the recognition model of fatigue driving based on support vector machine(SVM) is established. The results show that the proposed method recognizes the drivers' fatigue or normal state more effectively than others and its accuracy can reach 82.6%.","PeriodicalId":359959,"journal":{"name":"2019 3rd International Symposium on Autonomous Systems (ISAS)","volume":"74 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126108198","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
Fault-tolerant sampled-data synchronization of Markovian jumping complex dynamical networks via looped-functional approach 基于循环泛函方法的马尔可夫跳变复杂动态网络容错采样数据同步
2019 3rd International Symposium on Autonomous Systems (ISAS) Pub Date : 2019-05-01 DOI: 10.1109/ISASS.2019.8757727
Wang Xin, Sun Jian
{"title":"Fault-tolerant sampled-data synchronization of Markovian jumping complex dynamical networks via looped-functional approach","authors":"Wang Xin, Sun Jian","doi":"10.1109/ISASS.2019.8757727","DOIUrl":"https://doi.org/10.1109/ISASS.2019.8757727","url":null,"abstract":"In this paper, the issue of sampled-data synchronization of Markovian jumping complex dynamical networks with sensor fault is investigated. Here, we utilize looped-functional approach to constructed Lyapunov functional with more information about $r(t_{k})$ and $r(t_{k+1})$, which has contribution to decrease the conservatism of stability condition. Then, we design a sampled-data controller for Markovian jumping complex dynamical networks. Finally, the feasibility and superiority of our method are proved by several numerical and simulation examples.","PeriodicalId":359959,"journal":{"name":"2019 3rd International Symposium on Autonomous Systems (ISAS)","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126769909","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
Multi-unmanned Vehicle for Region Traversal Search Based on Ant Colony Algorithm 基于蚁群算法的多无人机区域遍历搜索
2019 3rd International Symposium on Autonomous Systems (ISAS) Pub Date : 2019-05-01 DOI: 10.1109/ISASS.2019.8757769
Fuyu Luo, Wei Wang, Zhe Li
{"title":"Multi-unmanned Vehicle for Region Traversal Search Based on Ant Colony Algorithm","authors":"Fuyu Luo, Wei Wang, Zhe Li","doi":"10.1109/ISASS.2019.8757769","DOIUrl":"https://doi.org/10.1109/ISASS.2019.8757769","url":null,"abstract":"When there are many unmanned surface vehicles (USVs) for sea area search and underwater terrain scanning test, there are problems such as large amount of calculation and complicated task assignment. To overcome it, a complete region traversal search method with multi-USVs based on ant colony algorithm is proposed. Firstly, the standard rectangular search area is segmented according to the number of isomorphic USVs, and the multi-USV search is transformed into a region traversal search of a single USV. The region traversal search is based on grids algorithm. For a single search area, a hierarchical search strategy based on ant colony algorithm is adopted and two search modes, i.e. large-scale search and fine search, are developed. For the initial search, a large-scale search is used, and subdivision grids fine search is adopted for suspicious target areas in the large-scale search process. Finally, the practicality of the method is verified by simulation.","PeriodicalId":359959,"journal":{"name":"2019 3rd International Symposium on Autonomous Systems (ISAS)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122548227","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
Consensus of General Linear Multi-Agent Systems under Directed Communication Graph with Limited Data Rate 有限数据速率有向通信图下一般线性多智能体系统的一致性
2019 3rd International Symposium on Autonomous Systems (ISAS) Pub Date : 2019-05-01 DOI: 10.1109/ISASS.2019.8757723
Ziqin Chen, Ji Ma, Xiao Yu
{"title":"Consensus of General Linear Multi-Agent Systems under Directed Communication Graph with Limited Data Rate","authors":"Ziqin Chen, Ji Ma, Xiao Yu","doi":"10.1109/ISASS.2019.8757723","DOIUrl":"https://doi.org/10.1109/ISASS.2019.8757723","url":null,"abstract":"This paper investigates the consensus problem of discrete-time linear multi-agent systems with limited date rate. By constructing a novel dynamic quantizer, a distributed protocol is developed for general linear systems with directed communication topology. It is shown that not only the quantized consensus is achieved for multi-agent systems with general linear dynamics under a directed communication graph. A simulation example is given to illustrate the effectiveness of the proposed consensus protocol.","PeriodicalId":359959,"journal":{"name":"2019 3rd International Symposium on Autonomous Systems (ISAS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122933986","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
Exploiting RSSI Difference among Multiple Neighbors to Improve Face-to-Machine Proximity Estimation in Industrial Human Machine Interaction 利用多邻居间RSSI差异改进工业人机交互中对机接近估计
2019 3rd International Symposium on Autonomous Systems (ISAS) Pub Date : 2019-05-01 DOI: 10.1109/ISASS.2019.8757797
Yulong Zhang, Zhezhuang Xu, Anguo Liu, Rongkai Wang, Jie Huang
{"title":"Exploiting RSSI Difference among Multiple Neighbors to Improve Face-to-Machine Proximity Estimation in Industrial Human Machine Interaction","authors":"Yulong Zhang, Zhezhuang Xu, Anguo Liu, Rongkai Wang, Jie Huang","doi":"10.1109/ISASS.2019.8757797","DOIUrl":"https://doi.org/10.1109/ISASS.2019.8757797","url":null,"abstract":"The massive machines connected to the industrial cyber-physical systems bring challenges to the machine management in the industrial human machine interaction (HMI). The engineer has to identify the target machine from a long list which is a non-trivial problem. Observing the fact that the industrial HMI is generally executed in a face-to-machine manner, the face-to-machine proximity estimation (FaceME) algorithm has been proposed to solve this problem. Nevertheless, due to the randomness of wireless signal, the estimation accuracy of FaceME is not sufficient in the scenarios with densely deployed machines. In this paper, we exploit the RSSI difference among multiple neighbors in the industrial HMI. Based on the analysis, we propose a face-to-machine proximity estimation algorithm called FaceME+ which takes advantages of the RSSI difference among multiple neighbors to improve the estimation accuracy. Its performance is studied on the mobile industrial HMI testbed, and the results prove the efficiency of FaceME+.","PeriodicalId":359959,"journal":{"name":"2019 3rd International Symposium on Autonomous Systems (ISAS)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128398662","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
MFMCF: A Novel Indoor Location Method Combining Multiple Fingerprints and Multiple Classifiers 一种结合多指纹和多分类器的室内定位方法
2019 3rd International Symposium on Autonomous Systems (ISAS) Pub Date : 2019-05-01 DOI: 10.1109/ISASS.2019.8757788
Yazhou Yuan, Xun Liu, Zhixin Liu, Zhezhuang Xu
{"title":"MFMCF: A Novel Indoor Location Method Combining Multiple Fingerprints and Multiple Classifiers","authors":"Yazhou Yuan, Xun Liu, Zhixin Liu, Zhezhuang Xu","doi":"10.1109/ISASS.2019.8757788","DOIUrl":"https://doi.org/10.1109/ISASS.2019.8757788","url":null,"abstract":"WiFi fingerprint-based localization has attracted significant research interest recently because WiFi devices were widely deployed and practicable. The accuracy of indoor positioning based on single fingerprint pattern is limited since it is susceptible to external influences. This paper proposes a multi-fingerprint and multi-classifier fusion(MFMCF) localization method, which improves the localization accuracy by constructing multi-pattern fingerprints and integrating multiple classifier. MFMCF constructs signal strength difference(SSD), hyperbolic location fingerprint(HLF) and received signal strength(RSS) as a composite fingerprint set(CFS) using linear discriminant analysis(LDA). A special decision-structure of multiple classification was designed by calculating the entropy of the classifiers including K-Nearest Neighbor(KNN), Support Vector Ma-chine(SVM) and Random Forest(RF), to obtain a more accurate estimate result. Experiments show that MFMCF has higher localization accuracy and robustness to single fingerprinting pattern.","PeriodicalId":359959,"journal":{"name":"2019 3rd International Symposium on Autonomous Systems (ISAS)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123887901","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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