自主智能系统(英文)最新文献_第8页

Decision making framework for autonomous vehicles driving behavior in complex scenarios via hierarchical state machine 基于层次状态机的复杂场景下自动驾驶汽车驾驶行为决策框架

自主智能系统(英文) Pub Date : 2021-11-16 DOI: 10.1007/s43684-021-00015-x

Xuanyu Wang, Xudong Qi, Ping Wang, Jingwen Yang

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引用次数: 0

Semi-global leader-following output consensus of heterogeneous systems subject to actuator position and rate saturation 致动器位置和速率饱和下异质系统输出一致性的半全局领导者

自主智能系统(英文) Pub Date : 2021-10-14 DOI: 10.1007/s43684-021-00008-w

Panpan Zhou, Ben M. Chen

引用次数: 0

Robust flocking for non-identical second-order nonlinear multi-agent systems 非同二阶非线性多智能体系统的鲁棒蜂拥

自主智能系统(英文) Pub Date : 2021-09-26 DOI: 10.1007/s43684-021-00007-x

Xiuxian Li, Housheng Su, Li Li

引用次数: 0

Riemannian geometric approach to optimal binocular rotation, pyramid based interpolation and bio-mimetic pan-tilt movement 最优双目旋转、基于金字塔的插值和仿生平移的黎曼几何方法

自主智能系统(英文) Pub Date : 2021-08-17 DOI: 10.1007/s43684-021-00001-3

Bijoy K. Ghosh, Bhagya Athukorallage

{"title":"Riemannian geometric approach to optimal binocular rotation, pyramid based interpolation and bio-mimetic pan-tilt movement","authors":"Bijoy K. Ghosh, Bhagya Athukorallage","doi":"10.1007/s43684-021-00001-3","DOIUrl":"10.1007/s43684-021-00001-3","url":null,"abstract":"<div><p>Over the past several years, we have been studying the problem of optimally rotating a rigid sphere about its center, where the rotation is actuated by a triplet of external torques acting on the body. The control objective is to repeatedly direct a suitable radial vector, called the gaze vector, towards a stationary point target in IR<sup>3</sup>. The orientation of the sphere is constrained to lie in a suitable submanifold of <b>S</b><b>O</b><b>(</b><b>3</b><b>)</b>. Historically, the constrained rotational movements were studied by physiologists in the nineteenth century, interested in eye and head movements. In this paper we revisit the gaze control problem, where two visual sensors, are tasked to simultaneously stare at a point target in the visual space. The target position changes discretely and the problem we consider is how to reorient the gaze directions of the sensors, along the optimal pathway of the human eyes, to the new location of the target. This is done by first solving an optimal control problem on the human binocular system. Next, we use these optimal control and show that a pan-tilt system can be controlled to follow the gaze trajectory of the human eye requiring a nonlinear static feedback of the pan and tilt angles and their derivatives. Our problem formulation uses a new Riemannian geometric description of the orientation space. The paper also introduces a new, pyramid based interpolation method, to implement the optimal controller.</p></div>","PeriodicalId":71187,"journal":{"name":"自主智能系统(英文)","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://link.springer.com/content/pdf/10.1007/s43684-021-00001-3.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44282818","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

Model predictive control for autonomous ground vehicles: a review 自主地面车辆模型预测控制研究综述

自主智能系统(英文) Pub Date : 2021-08-17 DOI: 10.1007/s43684-021-00005-z

Shuyou Yu, Matthias Hirche, Yanjun Huang, Hong Chen, Frank Allgöwer

{"title":"Model predictive control for autonomous ground vehicles: a review","authors":"Shuyou Yu, Matthias Hirche, Yanjun Huang, Hong Chen, Frank Allgöwer","doi":"10.1007/s43684-021-00005-z","DOIUrl":"10.1007/s43684-021-00005-z","url":null,"abstract":"<div><p>This paper reviews model predictive control (MPC) and its wide applications to both single and multiple autonomous ground vehicles (AGVs). On one hand, MPC is a well-established optimal control method, which uses the predicted future information to optimize the control actions while explicitly considering constraints. On the other hand, AGVs are able to make forecasts and adapt their decisions in uncertain environments. Therefore, because of the nature of MPC and the requirements of AGVs, it is intuitive to apply MPC algorithms to AGVs. AGVs are interesting not only for considering them alone, which requires centralized control approaches, but also as groups of AGVs that interact and communicate with each other and have their own controller onboard. This calls for distributed control solutions. First, a short introduction into the basic theoretical background of centralized and distributed MPC is given. Then, it comprehensively reviews MPC applications for both single and multiple AGVs. Finally, the paper highlights existing issues and future research directions, which will promote the development of MPC schemes with high performance in AGVs.</p></div>","PeriodicalId":71187,"journal":{"name":"自主智能系统(英文)","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://link.springer.com/content/pdf/10.1007/s43684-021-00005-z.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49502742","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

Editorial-Autonomous Intelligent Systems 自主智能系统

自主智能系统(英文) Pub Date : 2021-08-17 DOI: 10.1007/s43684-021-00006-y

Jie Chen

引用次数: 0

Lessons from human vision for robotic design 人类视觉对机器人设计的启示

自主智能系统(英文) Pub Date : 2021-08-17 DOI: 10.1007/s43684-021-00002-2

Melvyn A. Goodale

{"title":"Lessons from human vision for robotic design","authors":"Melvyn A. Goodale","doi":"10.1007/s43684-021-00002-2","DOIUrl":"10.1007/s43684-021-00002-2","url":null,"abstract":"<div><p>The visual guidance of goal-directed movements requires transformations of incoming visual information that are different from those required for visual perception. For us to grasp an object successfully, our brain must use just-in-time computations of the object’s real-world size and shape, and its orientation and disposition with respect to our hand. These requirements have led to the emergence of dedicated visuomotor modules in the posterior parietal cortex of the human brain (the dorsal visual stream) that are functionally distinct from networks in the occipito-temporal cortex (the ventral visual stream) that mediate our conscious perception of the world. Although the identification and selection of goal objects and an appropriate course of action depends on the perceptual machinery of the ventral stream and associated cognitive modules, the execution of the subsequent goal-directed action is mediated by dedicated online control systems in the dorsal stream and associated motor areas. The dorsal stream allows an observer to reach out and grasp objects with exquisite ease, but by itself, deals only with objects that are visible at the moment the action is being programmed. The ventral stream, however, allows an observer to escape the present and bring to bear information from the past – including information about the function of objects, their intrinsic properties, and their location with reference to other objects in the world. Ultimately then, both streams contribute to the production of goal-directed actions. The principles underlying this division of labour between the dorsal and ventral streams are relevant to the design and implementation of autonomous robotic systems.</p></div>","PeriodicalId":71187,"journal":{"name":"自主智能系统(英文)","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://link.springer.com/content/pdf/10.1007/s43684-021-00002-2.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43531220","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

Distributed dynamic stochastic approximation algorithm over time-varying networks 时变网络上的分布式动态随机逼近算法

自主智能系统(英文) Pub Date : 2021-08-17 DOI: 10.1007/s43684-021-00003-1

Kewei Fu, Han-Fu Chen, Wenxiao Zhao

引用次数: 0

Online distributed tracking of generalized Nash equilibrium on physical networks 物理网络上广义纳什均衡的在线分布式跟踪

自主智能系统(英文) Pub Date : 2021-08-17 DOI: 10.1007/s43684-021-00004-0

Yifan Su, Feng Liu, Zhaojian Wang, Shengwei Mei, Qiang Lu

引用次数: 0

Smart level sensor based on thermal resistance measurement with self calibration 基于热阻测量的智能液位传感器，具有自校准功能

自主智能系统(英文) Pub Date : 2010-06-21 DOI: 10.1109/AIS.2010.5547040

L. Umar

引用次数: 3