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Distributed Economic MPC with Adaptive Terminal Weights 具有自适应终端权重的分布式经济 MPC
IFAC-PapersOnLine Pub Date : 2024-01-01 DOI: 10.1016/j.ifacol.2024.09.016
Matthias Köhler , Matthias A. Müller , Frank Allgöwer
{"title":"Distributed Economic MPC with Adaptive Terminal Weights","authors":"Matthias Köhler ,&nbsp;Matthias A. Müller ,&nbsp;Frank Allgöwer","doi":"10.1016/j.ifacol.2024.09.016","DOIUrl":"10.1016/j.ifacol.2024.09.016","url":null,"abstract":"<div><div>We develop a distributed economic model predictive control (MPC) scheme with generalized terminal constraints and self-tuning terminal weights for multi-agent systems. We state conditions on the terminal weights’ adaption such that an average performance bound holds for the closed-loop system. In addition, we discuss an update law for the terminal weights for which the best reachable equilibria need not be computed in each time step, but which depends only on suboptimal reachable equilibria, e.g. obtained by performing a few steps of a distributed optimization algorithm in each time step.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"58 18","pages":"Pages 99-106"},"PeriodicalIF":0.0,"publicationDate":"2024-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142319793","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
Inventory Decisions Under Stochastic Demand Scenario with High Inflation Rate – Machine Learning Approach 高通胀率随机需求情景下的库存决策 - 机器学习方法
IFAC-PapersOnLine Pub Date : 2024-01-01 DOI: 10.1016/j.ifacol.2024.09.113
Vinu Siriwardena , Dilina Kosgoda , H. Niles Perera , Izabela Nielsen
{"title":"Inventory Decisions Under Stochastic Demand Scenario with High Inflation Rate – Machine Learning Approach","authors":"Vinu Siriwardena ,&nbsp;Dilina Kosgoda ,&nbsp;H. Niles Perera ,&nbsp;Izabela Nielsen","doi":"10.1016/j.ifacol.2024.09.113","DOIUrl":"10.1016/j.ifacol.2024.09.113","url":null,"abstract":"<div><div>This study examined the effects of hyperinflation on inventory decisions using a real-world dataset obtained from a leading retail company in Sri Lanka during the hyperinflation period of 2022 and developed a Machine Learning model to forecast optimal order quantities with the intention of lowering inventory holding costs. Six distinct ML techniques were selected to identify the best ML model. Root Mean Squared Error and R Squared values were used to rigorously evaluate the performance of the six ML techniques. The results suggest Random Forest as the most appropriate ML model to forecast optimal order quantities during a high inflation situation.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"58 19","pages":"Pages 133-138"},"PeriodicalIF":0.0,"publicationDate":"2024-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142426137","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
Underwater vehicle navigation using bearing measurements from a mobile beacon⁎ 利用移动信标的方位测量进行水下航行器导航⁎
IFAC-PapersOnLine Pub Date : 2024-01-01 DOI: 10.1016/j.ifacol.2024.10.097
Simon A. Hoff , Henrik M. Schmidt-Didlaukies , Erlend A. Basso , Damiano Varagnolo , Kristin Y. Pettersen
{"title":"Underwater vehicle navigation using bearing measurements from a mobile beacon⁎","authors":"Simon A. Hoff ,&nbsp;Henrik M. Schmidt-Didlaukies ,&nbsp;Erlend A. Basso ,&nbsp;Damiano Varagnolo ,&nbsp;Kristin Y. Pettersen","doi":"10.1016/j.ifacol.2024.10.097","DOIUrl":"10.1016/j.ifacol.2024.10.097","url":null,"abstract":"<div><div>Autonomous underwater vehicles enable efficient underwater operations such as mapping, surveillance, and inspection. However, due to the lack of global navigation satellite systems (GNSS) signals, drift in pose estimates will occur over time. Common solutions to this issue are using either stationary or mobile beacons to provide range and possibly bearing measurements to bound the navigation error over time. However, this requires occupying communication bandwidth to get reliable round-trip range measurements. In this paper, we propose a system where a mobile beacon passively listens to communications from the underwater vehicle to estimate the position of the vehicle. We show that the estimation error is bounded over time through strategic movement of the mobile beacon.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"58 20","pages":"Pages 464-469"},"PeriodicalIF":0.0,"publicationDate":"2024-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142551963","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 BlueROV2-based platform for underwater mapping experiments 基于 BlueROV2 的水下测绘实验平台
IFAC-PapersOnLine Pub Date : 2024-01-01 DOI: 10.1016/j.ifacol.2024.10.098
Tudor Alinei-Poiană , David Reţe , Davian Martinovici , Vicu-Mihalis Maer , Lucian Buşoniu
{"title":"A BlueROV2-based platform for underwater mapping experiments","authors":"Tudor Alinei-Poiană ,&nbsp;David Reţe ,&nbsp;Davian Martinovici ,&nbsp;Vicu-Mihalis Maer ,&nbsp;Lucian Buşoniu","doi":"10.1016/j.ifacol.2024.10.098","DOIUrl":"10.1016/j.ifacol.2024.10.098","url":null,"abstract":"<div><div>We propose a low-cost laboratory platform for development and validation of underwater mapping techniques, using the BlueROV2 Remotely Operated Vehicle (ROV). Both the ROV and the objects to be mapped are placed in a pool that is imaged via an overhead camera. In our prototype mapping application, the ROV's pose is found using extended Kalman filtering on measurements from the overhead camera, inertial, and pressure sensors; while objects are detected with a deep neural network in the ROV camera stream. Validation experiments are performed for pose estimation, detection, and mapping. The litter detection dataset and code are made publicly available.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"58 20","pages":"Pages 470-475"},"PeriodicalIF":0.0,"publicationDate":"2024-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142551969","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 Nonlinear Predictive Control for Unmanned Air-Ground Vehicles 无人驾驶空地飞行器的分布式非线性预测控制
IFAC-PapersOnLine Pub Date : 2024-01-01 DOI: 10.1016/j.ifacol.2024.10.139
Alessandra Elisa Sindi Morando , Alessandro Bozzi , Simone Graffione , Roberto Sacile , Enrico Zero
{"title":"Distributed Nonlinear Predictive Control for Unmanned Air-Ground Vehicles","authors":"Alessandra Elisa Sindi Morando ,&nbsp;Alessandro Bozzi ,&nbsp;Simone Graffione ,&nbsp;Roberto Sacile ,&nbsp;Enrico Zero","doi":"10.1016/j.ifacol.2024.10.139","DOIUrl":"10.1016/j.ifacol.2024.10.139","url":null,"abstract":"<div><div>This paper addresses the formation path tracking for a heterogeneous system made up of a steering car and a quadcopter. System modelling is based on Nonlinear Model Predictive Control (NMPC), which is a proper solution when considering a heterogeneous feet as not only it deals with non-linearities of the dynamic model but it is also a way to generate trajectories that can be communicated to other agents. Moreover, an Extended Kalman Filter (EKF) is employed to estimate the non-measurable ground robot state variables. Two separate simulations in Simulink for each agent have been carried out leading to promising results in terms of tracking errors. Indeed, tests show that the proposed solution allows the two vehicles to follow the reference aligned with a deviation of a few centimeters.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"58 21","pages":"Pages 37-42"},"PeriodicalIF":0.0,"publicationDate":"2024-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142554432","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
Optimal control of electric automated buses in intercity lines: scenario-based analysis of the Pareto-optimal solutions 城际线路电动自动公交车的优化控制：基于情景的帕累托最优解分析
IFAC-PapersOnLine Pub Date : 2024-01-01 DOI: 10.1016/j.ifacol.2024.07.315
C. Pasquale , S. Sacone , S. Siri , A. Ferrara
{"title":"Optimal control of electric automated buses in intercity lines: scenario-based analysis of the Pareto-optimal solutions","authors":"C. Pasquale ,&nbsp;S. Sacone ,&nbsp;S. Siri ,&nbsp;A. Ferrara","doi":"10.1016/j.ifacol.2024.07.315","DOIUrl":"10.1016/j.ifacol.2024.07.315","url":null,"abstract":"<div><p>This paper deals with the optimal control of electric and automated buses that have to follow an intercity line, where some stops are equipped with a flash-charging infrastructure to charge the batteries, while others are not. In order to control these buses, it is necessary to account for the traffic conditions along the roads of the bus line, and to minimize two objectives related to the deviations from the bus timetable and the lack of energy, at the end of the bus trip, with respect to a desired final energy level. The resulting optimal control problem is a multi-objective linear quadratic problem with both continuous and integer variables. In this paper, we propose and apply two methods based on lexicographic ordering aimed at determining the Pareto-optimal solutions of the control problem in twelve scenarios inspired by a real case.</p></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"58 10","pages":"Pages 37-42"},"PeriodicalIF":0.0,"publicationDate":"2024-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S2405896324003999/pdf?md5=0325c25d662b7891c54f32be7fb22fca&pid=1-s2.0-S2405896324003999-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141950866","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Impact of Technology on the Quality of Life of Elderly People in Smart Villages: Literature Review 科技对智慧村老年人生活质量的影响：文献综述
IFAC-PapersOnLine Pub Date : 2024-01-01 DOI: 10.1016/j.ifacol.2024.07.161
Jelena Lučan , Marija Pokmajević , Urška Kunčič
{"title":"Impact of Technology on the Quality of Life of Elderly People in Smart Villages: Literature Review","authors":"Jelena Lučan ,&nbsp;Marija Pokmajević ,&nbsp;Urška Kunčič","doi":"10.1016/j.ifacol.2024.07.161","DOIUrl":"10.1016/j.ifacol.2024.07.161","url":null,"abstract":"<div><p>This review delves into how technology can positively affect the lives of older adults living in smart villages—a fusion of modern technology with rural lifestyles aimed at improving living conditions. While gerontechnology presents an opportunity to mitigate the effects of aging and the application of intelligent solutions in rural settings is on the rise, our examination uncovers a dynamic mix of both prospects and hurdles, highlighting the need for broader, interdisciplinary studies. The prevalent research tends to concentrate on the technological, energetic, and agricultural aspects, often overlooking the importance of social services and care for the elderly. Through a detailed examination, we’ve pinpointed several areas lacking in research, such as the necessity for long-term studies, the involvement of users in the design process, and thorough economic evaluations, as well as the need to address ethical, privacy, and societal concerns. Our analysis indicates that, although technological progress offers the potential to significantly improve the lives of seniors in smart villages, fully achieving these advantages necessitates bridging these identified research voids. Future studies should focus on creating accessible, user-focused technologies and approaches that cater to the varied needs and wishes of the elderly, through joint initiatives spanning healthcare, technology innovation, urban planning, and social studies. Adopting this comprehensive strategy will not only improve the quality of life for the elderly but also acknowledge their significant contribution and value in the context of smart villages, aligning with IFAC’s mission to leverage innovation and technology for enhancing human life quality.</p></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"58 3","pages":"Pages 262-267"},"PeriodicalIF":0.0,"publicationDate":"2024-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S2405896324002441/pdf?md5=1129a8b133b78588415807b4c32e945d&pid=1-s2.0-S2405896324002441-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141951577","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Overview and Perspectives of Air Mobility Operations and Simulation Tools 空中机动作战与模拟工具的概述与展望
IFAC-PapersOnLine Pub Date : 2024-01-01 DOI: 10.1016/j.ifacol.2024.07.356
Yazan Safadi , Jack Haddad
{"title":"Overview and Perspectives of Air Mobility Operations and Simulation Tools","authors":"Yazan Safadi ,&nbsp;Jack Haddad","doi":"10.1016/j.ifacol.2024.07.356","DOIUrl":"10.1016/j.ifacol.2024.07.356","url":null,"abstract":"<div><p>The rise of low-altitude passenger and delivery aircraft in urban areas will revolutionize urban mobility, requiring air mobility (AM) systems. This paper provides an overview of AM operations and simulation tools to facilitate research and development. It proposes a software structure for a simulation tool that can model and replicate the behavior of AM systems. By setting the foundation for AM tools and exploring varied concepts, this paper aims to inspire breakthrough research in this cutting-edge domain.</p></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"58 10","pages":"Pages 296-301"},"PeriodicalIF":0.0,"publicationDate":"2024-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S2405896324004403/pdf?md5=cb97c5cec695228a06f246aa457f4417&pid=1-s2.0-S2405896324004403-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141960950","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Reducing Emission Peaks in a Port Terminal through Optimized Truck Arrivals 通过优化卡车到达减少港口码头的排放峰值
IFAC-PapersOnLine Pub Date : 2024-01-01 DOI: 10.1016/j.ifacol.2024.07.360
Rexhina Hoxha , Stefano Cangelosi , Simona Sacone , Enrico Zero
{"title":"Reducing Emission Peaks in a Port Terminal through Optimized Truck Arrivals","authors":"Rexhina Hoxha ,&nbsp;Stefano Cangelosi ,&nbsp;Simona Sacone ,&nbsp;Enrico Zero","doi":"10.1016/j.ifacol.2024.07.360","DOIUrl":"10.1016/j.ifacol.2024.07.360","url":null,"abstract":"<div><p>The reduction of pollutant emissions due to the truck operations in a maritime terminal is the objective of this work. The proposed approach is firstly based on a suitable prediction method developed by the authors and aimed at forecasting the number of trucks reaching the terminal to bring export containers in each day of a specified time interval. Once that the curve of truck arrivals is predicted, an emission model is adopted to evaluate the corresponding pollutant emissions. As a result, it is possible to verify in advance whether at certain days the overall emissions overcome a critical threshold. If this happens, it is needed to redistribute the truck arrivals in order to maintain emissions as close as possible to the threshold. This is optimally done by stating and solving an optimization problem whose solutions are tested in the case study of export flows in the PSA Genova Pra’ (PSA GP) terminal.</p></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"58 10","pages":"Pages 321-326"},"PeriodicalIF":0.0,"publicationDate":"2024-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S2405896324004440/pdf?md5=5dc57768327324a13f161798973539fd&pid=1-s2.0-S2405896324004440-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141960954","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Energy-optimal Speed Regulation for CAVs in Urban Mixed Traffic with Induced Lane Changes 诱导变道的城市混合交通中 CAV 的能量优化速度调节
IFAC-PapersOnLine Pub Date : 2024-01-01 DOI: 10.1016/j.ifacol.2024.07.318
Yonghui Hu , Yibing Wang
{"title":"Energy-optimal Speed Regulation for CAVs in Urban Mixed Traffic with Induced Lane Changes","authors":"Yonghui Hu ,&nbsp;Yibing Wang","doi":"10.1016/j.ifacol.2024.07.318","DOIUrl":"10.1016/j.ifacol.2024.07.318","url":null,"abstract":"<div><p>Existing urban energy-optimal vehicle speed regulation (eco-driving) studies were mostly carried out on single-lane roads or did not consider lane changes, delivering overidealized eco-driving results. In addition to lane changes that every vehicle may encounter on roads, the eco-driving connected automated vehicles (CAVs) are subject to induced types of lane changes of manually-driven vehicles (MVs), a cut-in of an MV to the front of a CAV from an adjacent lane, and an escape of an MV from behind a CAV to an adjacent lane. So far, very few studies have considered the impact of lane changes while designing the ecodriving strategies and evaluated the eco-driving performance with respect to lane-changing disturbances in credible simulation environments; and almost no existing work has addressed both lateral and longitudinal disturbances for eco-driving. This paper has developed a generic and deployable eco-driving strategy for CAVs under a unified rolling-horizon optimal control framework that can deal with both longitudinal and lateral disturbances of MVs without assuming communications between CAVs and MVs. The performance of this disturbance-rejection eco-driving strategy was thoroughly evaluated with regard to a multilane urban network, using the microscopic traffic simulator SUMO. The strategy was demonstrated very effective and robust, and similar results were little reported before.</p></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"58 10","pages":"Pages 55-60"},"PeriodicalIF":0.0,"publicationDate":"2024-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S2405896324004026/pdf?md5=8f9200f73396146faacc05a37f6ee602&pid=1-s2.0-S2405896324004026-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141960959","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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