发布求助
文献互助 智能选刊 最新文献

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

筛选
英文 中文
Fully Distributed Consensus for Second-order Uncertain Multi-agent Systems under a Directed Graph 有向图下二阶不确定多智能体系统的完全分布式一致性
2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI: 10.1109/ICARCV.2018.8581121
Zhenhong Guo, Chunjing Jiang, Jie Mei, G. Ma
{"title":"Fully Distributed Consensus for Second-order Uncertain Multi-agent Systems under a Directed Graph","authors":"Zhenhong Guo, Chunjing Jiang, Jie Mei, G. Ma","doi":"10.1109/ICARCV.2018.8581121","DOIUrl":"https://doi.org/10.1109/ICARCV.2018.8581121","url":null,"abstract":"In this paper, we study the leaderless consensus problem for second-order uncertain multi-agent systems with absolute velocity damping under a directed graph. A fully distributed algorithm is proposed, in which each agent uses only the relative position measurements with respect to its neighbors and its own absolute velocity damping. It turns out that all agents achieve consensus asymptotically with zero final velocities. The proposed algorithm is fully distributed in the sense that different agents use their own control gains. Based on a system transformation method and an auxiliary variable, the leaderless consensus problem for second-order uncertain multi-agent systems is converted into that for a first-order linear multi-agent system with a vanishing term. The consensus convergence is then analyzed via the Lyapunov stability theory and input-to-state stability. Numerical simulations are provided to verify the effectiveness of the proposed algorithm.","PeriodicalId":395380,"journal":{"name":"2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"18 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":"125244282","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
Upper Estimates of the Deviations in Linear Dynamical Systems Subjected to Uncertainty 受不确定性影响的线性动力系统偏差的上估计
2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI: 10.1109/ICARCV.2018.8581300
M. Khlebnikov
{"title":"Upper Estimates of the Deviations in Linear Dynamical Systems Subjected to Uncertainty","authors":"M. Khlebnikov","doi":"10.1109/ICARCV.2018.8581300","DOIUrl":"https://doi.org/10.1109/ICARCV.2018.8581300","url":null,"abstract":"In this talk, the linear dynamical system subjected to uncertainty in the system matrix is considered. Using the linear matrix inequality technique we obtain the upper bounds for the deviations in linear systems. An LMI-based stabilizing feedback procedure is proposed which guarantees “as small as possible” deviations. The results of numerical simulations demonstrate the low conservatism of the obtained bounds.","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":"131157174","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
Robust Skeleton-based Action Recognition through Hierarchical Aggregation of Local and Global Spatio-temporal Features 基于局部和全局时空特征分层聚合的鲁棒骨架动作识别
2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI: 10.1109/ICARCV.2018.8581141
Jun Ren, N. Reyes, A. Barczak, C. Scogings, Mingzhe Liu, Jing Ma
{"title":"Robust Skeleton-based Action Recognition through Hierarchical Aggregation of Local and Global Spatio-temporal Features","authors":"Jun Ren, N. Reyes, A. Barczak, C. Scogings, Mingzhe Liu, Jing Ma","doi":"10.1109/ICARCV.2018.8581141","DOIUrl":"https://doi.org/10.1109/ICARCV.2018.8581141","url":null,"abstract":"Recognizing human actions based on 3D skeleton data, commonly referred to as 3D action recognition, is fast gaining interest from the scientific community recently, because this approach presents a robust, compact and a perspective-invariant representation of motion data. Recent attempts on this problem proposed the development of RNN-based learning methods to model the temporal dependency in the sequential data. In this paper, we extend this idea to a hierarchical spatio-temporal domains to exploit the local and global features embedded in the long skeleton sequence. We introduce a novel temporal-contextual recurrent layer to learn the local features from consecutive frames and then to aggregate the extracted features hierarchically, refining the sequence representation layer by layer. Our method achieves competitive performance on 3 popular benchmark datasets for 3D human action analysis.","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":"131517853","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
Bi-Manual Articulated Robot Teleoperation using an External RGB-D Range Sensor 使用外部RGB-D距离传感器的双手关节机器人远程操作
2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI: 10.1109/ICARCV.2018.8581174
Persie Rolley-Parnell, D. Kanoulas, Arturo Laurenzi, Brian Delhaisse, L. Rozo, D. Caldwell, N. Tsagarakis
{"title":"Bi-Manual Articulated Robot Teleoperation using an External RGB-D Range Sensor","authors":"Persie Rolley-Parnell, D. Kanoulas, Arturo Laurenzi, Brian Delhaisse, L. Rozo, D. Caldwell, N. Tsagarakis","doi":"10.1109/ICARCV.2018.8581174","DOIUrl":"https://doi.org/10.1109/ICARCV.2018.8581174","url":null,"abstract":"In this paper, we present an implementation of a bi-manual teleoperation system, controlled by a human through three-dimensional (3D) skeleton extraction. The input data is given from a cheap RGB-D range sensor, such as the ASUS Xtion PRO. To achieve this, we have implemented a 3D version of the impressive OpenPose package, which was recently developed. The first stage of our method contains the execution of the OpenPose Convolutional Neural Network (CNN), using a sequence of RGB images as input. The extracted human skeleton pose localisation in two-dimensions (2D) is followed by the mapping of the extracted joint location estimations into their 3D pose in the camera frame. The output of this process is then used as input to drive the end-pose of the robotic hands relative to the human hand movements, through a whole-body inverse kinematics process in the Cartesian space. Finally, we implement the method as a ROS wrapper package and we test it on the centaur-like CENTAURO robot. Our demonstrated task is of a box and lever manipulation in real-time, as a result of a human task demonstration.","PeriodicalId":395380,"journal":{"name":"2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"24 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":"116531624","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: 25
A Multi-Objective Optimization-based Path Planning Method for Parallel Parking of Autonomous Vehicle via Nonlinear Programming 基于非线性规划的自动驾驶汽车并行停车多目标优化路径规划方法
2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI: 10.1109/ICARCV.2018.8581195
Wei Jing, Dudong Feng, P. Zhang, Shijun Zhang, S. Lin, Bowei Tang
{"title":"A Multi-Objective Optimization-based Path Planning Method for Parallel Parking of Autonomous Vehicle via Nonlinear Programming","authors":"Wei Jing, Dudong Feng, P. Zhang, Shijun Zhang, S. Lin, Bowei Tang","doi":"10.1109/ICARCV.2018.8581195","DOIUrl":"https://doi.org/10.1109/ICARCV.2018.8581195","url":null,"abstract":"In recent years, Autonomous Vehicle has become highly desirable to improve efficiency of transportation, to reduce number of accidents and to reduce travelling cost. Among the common tasks in the autonomous driving system, parallel parking is one of the most important tasks, which is performed very frequently as a daily routine. Thus, planning an efficient path for parallel parking significantly helps to reduce the cost and improve the efficiency, which is of great interests at both academia and industry. In this paper, we propose a multi-objective optimization formulation and develop a Nonlinear Programming based method for the path planning problem of the parallel parking task. The proposed method is demonstrated to be able to solve the path planning problem for parallel parking efficiently and robustly with good optimization results as well as convergence property in the computational studies. We also conduct several analysis of the optimization algorithm to explain the impacts of the environmental parameters and the objectives in the multi-objective function.","PeriodicalId":395380,"journal":{"name":"2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"124 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":"134241092","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
A Shifting Method for Intelligent Operational Mode of UAVs 一种无人机智能作战模式切换方法
2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI: 10.1109/ICARCV.2018.8581242
Jun Chen, Xudong Gao, Xiaowei Chen, Q. He
{"title":"A Shifting Method for Intelligent Operational Mode of UAVs","authors":"Jun Chen, Xudong Gao, Xiaowei Chen, Q. He","doi":"10.1109/ICARCV.2018.8581242","DOIUrl":"https://doi.org/10.1109/ICARCV.2018.8581242","url":null,"abstract":"This paper proposed the intelligent operational mode to support UAVs autonomous decision-making, so the pilot's cognitive load declined and the UAV's decision performance improved in manned/unmanned aerial vehicles (MAV/UAVs) teams. The intelligent operational mode, which is determined by UAVs' comprehension of the human-machine-environment system, reflects the decision preference of UAVs. To explain how the intelligent operation mode shifts, two models were created based on Fuzzy Cognitive Map (FCM) and Fuzzy Grey Cognitive Map (FGCM). The first model assessed the pilot's cognitive load and the second derived the intelligent operational mode from the pilot's cognitive loads and many other critical factors. At the end of this paper, the rationality and feasibility of the proposed models are checked by several cases.","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":"134309401","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
High Integrity Lane Level Localization Using Multiple Lane Markings Detection and Horizontal Protection Levels 基于多车道标记检测和水平保护水平的高完整性车道定位
2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI: 10.1109/ICARCV.2018.8581278
Gabriel Frisch, Philippe Xu, E. Stawiarski
{"title":"High Integrity Lane Level Localization Using Multiple Lane Markings Detection and Horizontal Protection Levels","authors":"Gabriel Frisch, Philippe Xu, E. Stawiarski","doi":"10.1109/ICARCV.2018.8581278","DOIUrl":"https://doi.org/10.1109/ICARCV.2018.8581278","url":null,"abstract":"For autonomous driving, lane level accurate localization is a necessity for complex driving maneuvers. Classical GNSS based methods are usually not accurate enough to have an unambiguous lane level localization. Having camera measurements such as lane marking detections along with high definition maps can enhance localization performance. In this paper, we are interested in high integrity localization, meaning being robust with low risk level. We propose a novel geometrical approach using horizontal protection levels on localization to propagate uncertainties and use lane markings to have an unambiguous map-matching. We demonstrate on real data that the algorithm can cope with high levels of noise on both localization and detection.","PeriodicalId":395380,"journal":{"name":"2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"41 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":"133119485","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
Actuator Fault Tolerant Control in a Team of Mobile Robots 移动机器人团队中的执行器容错控制
2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI: 10.1109/ICARCV.2018.8581118
Parisa Yazdjerdi, N. Meskin
{"title":"Actuator Fault Tolerant Control in a Team of Mobile Robots","authors":"Parisa Yazdjerdi, N. Meskin","doi":"10.1109/ICARCV.2018.8581118","DOIUrl":"https://doi.org/10.1109/ICARCV.2018.8581118","url":null,"abstract":"In this paper, a fault tolerant controller is developed for loss of effectiveness actuator faults in differential drive mobile robots. Based on the extended Kalman filter technique, a joint parameter and state estimation method is used to estimate the actuator loss of effectiveness gains as the parameters of the system. The estimated gains are then used in the controller to compensate the effect of actuator faults. Moreover, a fault tolerant leader-follower controller is developed to control multiple robots moving on a desired trajectory in a formation in the presence of actuator faults in leader or followers. The proposed method is implemented on Qbot-2 and its performance is experimentally validated.","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":"133401630","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
UAV Push Recovery Operation by Symmetrical Control and Estimation in Receding Horizon 地平线后退对称控制与估计的无人机推力恢复操作
2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI: 10.1109/ICARCV.2018.8581186
Basaran Bahadir Kocer, T. Tjahjowidodo, Gerald Seet Gim Lee
{"title":"UAV Push Recovery Operation by Symmetrical Control and Estimation in Receding Horizon","authors":"Basaran Bahadir Kocer, T. Tjahjowidodo, Gerald Seet Gim Lee","doi":"10.1109/ICARCV.2018.8581186","DOIUrl":"https://doi.org/10.1109/ICARCV.2018.8581186","url":null,"abstract":"This paper presents an unmanned aerial vehicle (UAV) push recovery operation using model predictive control (MPC) and moving horizon estimation (MHE) in a symmetric manner. This utilization is motivated by the active use of UAVs, particularly for the contact based inspection of the surrounding's ceilings. To enable a physical interaction operation by an optimization-based algorithm, a primal-dual quadratic programming (QP) solver is structured for the MPC and MHE. The designed system consists of (a) an interaction model to be implemented both on the control and the estimation; (b) an integral action in the predictive controller; (c) a disturbance estimation by MHE to update the MPC. Consequently, the nominal MPC, the integral action in MPC, and the disturbance observer based MPC are compared for a UAV push recovery operation. The numerical investigations demonstrate the applicability of the proposed approach.","PeriodicalId":395380,"journal":{"name":"2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"99 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":"134069964","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
Development of EtherCAT Slave Based on Multi-Core DSP 基于多核DSP的EtherCAT从站的开发
2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI: 10.1109/ICARCV.2018.8581097
Sung-Mun Park, Hyoung-Woo Kim, Hyung-Man Cho, Joon‐Young Choi
{"title":"Development of EtherCAT Slave Based on Multi-Core DSP","authors":"Sung-Mun Park, Hyoung-Woo Kim, Hyung-Man Cho, Joon‐Young Choi","doi":"10.1109/ICARCV.2018.8581097","DOIUrl":"https://doi.org/10.1109/ICARCV.2018.8581097","url":null,"abstract":"We develop a hardware and software for EtherCAT slave based on multi-core DSP in order to apply to control applications. Beckhoff's ET1100 ASIC is employed as EtherCAT slave controller; EtherCAT slave stack and control application algorithm are processed by individually assigned DSP core; and data interexchange between the two DSP cores is carried out by using the Inter-Process Communication mechanism. Namely, we intentionally separate the EtherCAT communication stack process from control application process using multi-core DSP, which enables to achieve conducting complicated control application as well as high-speed communication cycle. The high performance of the developed EtherCAT slave are demonstrated by real experiments using EtherCAT network composed of the developed slave and IgH EtherCAT master for Linux.","PeriodicalId":395380,"journal":{"name":"2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"23 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":"114711012","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
首页 上一页 下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：481959085
Book学术官方微信