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2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)最新文献

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Learning Mobility Aid Assistance via Decoupled Observation Models 通过解耦观察模型学习移动辅助
2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI: 10.1109/ICARCV.2018.8581375
James Poon, Yunduan Cui, J. V. Miró, Takamitsu Matsubara
{"title":"Learning Mobility Aid Assistance via Decoupled Observation Models","authors":"James Poon, Yunduan Cui, J. V. Miró, Takamitsu Matsubara","doi":"10.1109/ICARCV.2018.8581375","DOIUrl":"https://doi.org/10.1109/ICARCV.2018.8581375","url":null,"abstract":"This paper presents an active assistance framework for mobility systems, such as Power Mobility Devices (PMD), with the distinctive goal of being able to operate within a local moving window, as opposed to the common reliance upon persistent global environments and objectives. Demonstration data from able experts driving a simulated mobility aid in a representative indoor setting is used off-line to build behavioral models of navigation postulated separately upon user joystick inputs and on-board sensor data. These models are built respectively via Gaussian Processes for the joystick signals, and a Deep Convolutional Neural Network for the sensor data; in this case a planar LIDAR. Their combined outputs form a continuous distribution of estimated traversal likelihood within the user's immediate space, allowing for real-time stochastic optimal path planning to guide a user to its intended local destination. Moreover, the computational efficiency of the decoupled models permits rapid replanning on-the-fly for a smooth assistive action. On-line and off-line evaluations substantiate the advantages of the framework in generalising intelligent navigational assistance, of particular relevance for users who experience difficulty in safe mobility.","PeriodicalId":395380,"journal":{"name":"2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128892391","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
Swarm learning in restricted environments: an examination of semi-stochastic action selection 受限环境下的群体学习:半随机行动选择的检验
2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI: 10.1109/ICARCV.2018.8581269
Phillip Smith, R. Hunjet, Asad I. Khan
{"title":"Swarm learning in restricted environments: an examination of semi-stochastic action selection","authors":"Phillip Smith, R. Hunjet, Asad I. Khan","doi":"10.1109/ICARCV.2018.8581269","DOIUrl":"https://doi.org/10.1109/ICARCV.2018.8581269","url":null,"abstract":"This paper explores a machine learning process for robotic swarms tasked with a non-trivial problem in restricted environments. The effect of using a semi-stochastic action selector in a learning classifier based behaviour system is examined via adjusting the stochasticity setting. In this study we utilise Greedy Randomised Adaptive Search Procedures, finding some improvement in the ability of the swarm in non-deterministic, partially observable environments, compared to Greedy selection. We also find the swarm performs significantly worse when machine learning is removed. This study also explores an evolutionary process used to optimise the behaviours available to each agent. This evolutionary process is examined in regard to the effect it has on the learning settings. It is found that the evolution reduces the impact of fine-tuning the learning variables. However, fully stochastic selection prevents learning, which impairs the evolution.","PeriodicalId":395380,"journal":{"name":"2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131866474","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
A Framework For Autonomous Heterogeneous Robot Teams 自主异构机器人团队的框架
2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI: 10.1109/ICARCV.2018.8581303
T. Roos, M. Emami
{"title":"A Framework For Autonomous Heterogeneous Robot Teams","authors":"T. Roos, M. Emami","doi":"10.1109/ICARCV.2018.8581303","DOIUrl":"https://doi.org/10.1109/ICARCV.2018.8581303","url":null,"abstract":"This paper discusses the key features of autonomous heterogeneous teams. Autonomy in this sense entails both the ability to overcome unforeseen circumstances and failures as well as the capability of enhancing performance over time. The paper presents a framework that provides a comprehensive solution for handling faults and dynamically configuring the team in response to varying situations, while improving its performance over time, on both individual and team levels, within a modular and expandable architecture. The performance of the framework is studied in a set of simulated foraging scenarios, under conditions of both software and hardware failure.","PeriodicalId":395380,"journal":{"name":"2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114949192","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
Multi-Agent Cross-Platform Detection of Meltdown and Spectre Attacks Meltdown和Spectre攻击的多代理跨平台检测
2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI: 10.1109/ICARCV.2018.8581146
Xinxing Zhao, C. S. Veerappan, P. Loh, Zhaohui Tang, Forest Tan
{"title":"Multi-Agent Cross-Platform Detection of Meltdown and Spectre Attacks","authors":"Xinxing Zhao, C. S. Veerappan, P. Loh, Zhaohui Tang, Forest Tan","doi":"10.1109/ICARCV.2018.8581146","DOIUrl":"https://doi.org/10.1109/ICARCV.2018.8581146","url":null,"abstract":"Modern processors use out-of-order and speculative execution to maximize performance. However, these types of optimization executions may leak users' confidential information to another malicious party through a side channel, as can be seen from the notorious Meltdown and Spectre poC attacks. Although some big companies have released software patches and updates to work around the hardware problems, however, they might inadvertently cause some stability or performance issues, especially for Windows systems. Furthermore, some legacy systems are never going to be patched, such as XP systems. Therefore, we provide a more proactive method, a multi-agent way of detecting Meltdown and Spectre on Windows (including the XP System), Linux and OS X Systems. Experiments show that our detection mechanism is very effective in detecting these attacks for all the major existing operating systems.","PeriodicalId":395380,"journal":{"name":"2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115105081","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
RIS: A Framework for Motion Planning Among Highly Dynamic Obstacles RIS:在高动态障碍物中运动规划的框架
2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI: 10.1109/ICARCV.2018.8581215
Pierre de Beaucorps, Anne Verroust-Blondet, Renaud Poncelet, F. Nashashibi
{"title":"RIS: A Framework for Motion Planning Among Highly Dynamic Obstacles","authors":"Pierre de Beaucorps, Anne Verroust-Blondet, Renaud Poncelet, F. Nashashibi","doi":"10.1109/ICARCV.2018.8581215","DOIUrl":"https://doi.org/10.1109/ICARCV.2018.8581215","url":null,"abstract":"We present here a framework to integrate into a motion planning method the interaction zones of a moving robot with its future surroundings, the reachable interaction sets. It can handle highly dynamic scenarios when combined with path planning methods optimized for quasi-static environments. As a demonstrator, it is integrated here with an artificial potential field reactive method and with a Bézler curve path planning. Experimental evaluations show that this approach significantly improves dynamic path planning methods, especially when the speeds of the obstacles are higher than the one of the robot. The presented approach is used together with a global planning approach in order to handle complex static environments in presence of fast-moving obstacles. When the ego vehicle is not holonomic the presented approach is able to take dynamic constraints into account, which improve the prediction accuracy.","PeriodicalId":395380,"journal":{"name":"2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"103 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122088295","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
Speed Tracking of Brushless DC Motors with Load Disturbance 负载扰动下无刷直流电动机的速度跟踪
2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI: 10.1109/ICARCV.2018.8581069
N. Zhang, Guofeng Chen
{"title":"Speed Tracking of Brushless DC Motors with Load Disturbance","authors":"N. Zhang, Guofeng Chen","doi":"10.1109/ICARCV.2018.8581069","DOIUrl":"https://doi.org/10.1109/ICARCV.2018.8581069","url":null,"abstract":"This work considers speed tracking control of a simplified Brushless DC (BLDC) motor system with load disturbance. A dynamic error feedback controller is developed to achieve robust speed tracking with load disturbance rejection. The result is also illustrated by simulation.","PeriodicalId":395380,"journal":{"name":"2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125977236","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
Globalstability of the error dynamics of an observer designed for the slow states of a singularly perturbed system 针对奇摄动系统慢态设计的观测器误差动力学的全局稳定性
2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI: 10.1109/ICARCV.2018.8581224
Luis Cuevas, D. Nešić, C. Manzie
{"title":"Globalstability of the error dynamics of an observer designed for the slow states of a singularly perturbed system","authors":"Luis Cuevas, D. Nešić, C. Manzie","doi":"10.1109/ICARCV.2018.8581224","DOIUrl":"https://doi.org/10.1109/ICARCV.2018.8581224","url":null,"abstract":"In this note, we study the stability of the error dynamics of an observer designed to estimate only the slow states of a singularly perturbed system. The observer is designed on the basis of the reduced (slow) model. We have recently reported semi-global practical results for this problem. Our previous work can be used to state local and regional convergence of the estimation error, but we cannot conclude global results from it. We seek to prove a stronger (global) result under stronger (global) assumptions in this manuscript. Moreover, we focus on proving the robustness of an observer with respect to singular perturbations and with respect to the measurement noise.","PeriodicalId":395380,"journal":{"name":"2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124601867","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
Semantic Change Detection 语义变化检测
2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI: 10.1109/ICARCV.2018.8581264
Tomoyuki Suzuki, Munetaka Minoguchi, Ryota Suzuki, Akio Nakamura, K. Iwata, Y. Satoh, Hirokatsu Kataoka
{"title":"Semantic Change Detection","authors":"Tomoyuki Suzuki, Munetaka Minoguchi, Ryota Suzuki, Akio Nakamura, K. Iwata, Y. Satoh, Hirokatsu Kataoka","doi":"10.1109/ICARCV.2018.8581264","DOIUrl":"https://doi.org/10.1109/ICARCV.2018.8581264","url":null,"abstract":"Change detection is the study of detecting changes between two different images of a scene taken at different times. The change detection methodology can provide us information in which area images changed time by time. However, for application use, especially on disaster investigation, it is highly required to understand not only where but also what changes are occured in high precision and resolution. The paper proposes the concept of semantic change detection, which involves intuitively inserting semantic meaning into detected change areas. We mainly focus on the novel semantic segmentation in addition to a conventional change detection approach. In order to solve this problem and obtain a high-level of performance, we propose an improvement to the hypercolumns representation, hereafter known as hypermaps, which effectively uses convolutional maps obtained from convolutional neural networks (CNNs). We also employ multi-scale feature representation captured by different image patches. We applied our method to the TSUNAMI panoramic change detection dataset (TSUNAMI dataset), and re-annotated the changed areas of the dataset via semantic classes. The results show that our multi-scale hypermaps provided outstanding performance on the re-annotated TSUNAMI dataset.","PeriodicalId":395380,"journal":{"name":"2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129872505","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
Frequency-Shaped Second-Order Sliding Mode Control for Smart Suspension Systems 智能悬架系统的频率型二阶滑模控制
2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI: 10.1109/ICARCV.2018.8581139
Sayed Royel, Q. Ha, R. Aguilera
{"title":"Frequency-Shaped Second-Order Sliding Mode Control for Smart Suspension Systems","authors":"Sayed Royel, Q. Ha, R. Aguilera","doi":"10.1109/ICARCV.2018.8581139","DOIUrl":"https://doi.org/10.1109/ICARCV.2018.8581139","url":null,"abstract":"Design of a frequency-shaped second-order sliding mode (FS2SM) controller is demonstrated by means of exploiting second-order low-pass filter (LPF) to model the dynamic sliding surface to shape the frequency characteristics of the equivalent dynamics. The proposed technique is numerically verified in the simulation of a half-car model (HCM) with inbuilt active hydraulically interconnected suspension (HIS) system. The closed-loop performances confirm that inclusion of an appropriate filter in the control scheme allows not only to reduce the roll angle but also its spectrum can be shaped.","PeriodicalId":395380,"journal":{"name":"2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128711720","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
Detection and Following of Moving Targets by an Indoor Mobile Robot using Microsoft Kinect and 2D Lidar Data 基于微软Kinect和二维激光雷达数据的室内移动机器人对运动目标的检测与跟踪
2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI: 10.1109/ICARCV.2018.8581231
V. L. Popov, Sevil A. Ahmed, N. Shakev, A. Topalov
{"title":"Detection and Following of Moving Targets by an Indoor Mobile Robot using Microsoft Kinect and 2D Lidar Data","authors":"V. L. Popov, Sevil A. Ahmed, N. Shakev, A. Topalov","doi":"10.1109/ICARCV.2018.8581231","DOIUrl":"https://doi.org/10.1109/ICARCV.2018.8581231","url":null,"abstract":"The mobile robot following behavior is frequently considered as an important pre-requisite while developing autonomous service robots intended to co-exist with humans in a shared environment. It can also simplify the development of autonomous navigation and obstacle avoidance behavior as well as the robot ability to operate within multi-agent formations. In this investigation, an approach is proposed that allows a KUKA youBot omnidirectional mobile platform to detect and follow people carrying different objects, such as suitcases, in a shared indoor environment. Using a Kinect sensor, the mobile robot can recognize standing human with a suitcase and will begin to consider him as a potential dynamic target. The 2D lidar of the mobile platform can further detect when the above target starts to move and will begin to track it. Meanwhile, the robot will start following the human by controlling its own velocity while maintaining a pre-specified orientation and distance.","PeriodicalId":395380,"journal":{"name":"2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129091450","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: 8
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