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The objective of this paper is to use GridTiles to model a complex multi level scenario and additionally use the resulting model to help solving the loop closing problem. The GridTile algorithm is a memory and computational efficent method to map an unbounded outdoor environment of a human driven car. GridTiles are a set of small occupancy grids with a neighbourhood relation in the four directions...
One of the classical problems in control theory is the robust output regulation problem. The output of a system is required to asymptotically follow a given reference signal, despite disturbance signals and perturbations in the system's parameters. Wonham & Francis, and Davison on the other hand, developed independently the theory and construction of finite-dimensional robust controllers. Wonham's...
The paper studies certain unconstrained optimization problems dependent of scalar parameters and defined on infinite-dimensional Hilbert spaces. The performed asymptotic analysis with respect to the scalar parameters shows that the unconstrained parametrized optimization problems provide solutions to some optimal control problems for infinite dimensional control systems with constraints. Applicability...
A new variant of the genetic algorithm for finding the location and size of small holes in the domain described by the non-linear boundary value problem is considered. The expansion of the shape functional defined in non-linear domain is provided in order to determine the form of topological derivative. The value of topological derivative is used for computing the probability density applied later...
In the paper a boundary value problem for a fractional differential equation is considered. A theorem on existence of solutions to the above problem is proved. The main tools in the proof are fractional embeddings theorem and a variational method.
A method of irregular patterns learning and matching in an example computer vision system designed for eye tracking is presented. The main considered issue is the problem of patterns learning. In the presented solution it requires creation of a set of patterns with some kind of dynamic management. An adaptation of the set of patterns was achieved in that way that a new pattern may be added to the...
Designing an algorithm which allows automated seeking of the best operating point of a biological system is a quite complex task. That task is the subject of research for i.a. metabolic engineering which deals with control related issues, in particular with modeling of a biological phenomena kinetics as well as monitoring the unstable states of biomass growth. In the paper a theoretical analysis is...
This paper presents a new concept of modeling of LTI SISO discrete-time fractional-order systems, in which the Laguerre filters are employed to model both 1) the Grünwald-Letnikov fractional difference and 2) a dynamics of the LTI SISO fractional-order system. Such a ‘double-Laguerre’ concept yields original accuracy and computational results at both modeling stages, illustrated with a series of simulation...
The conditions of synthesis of interval observers for linear systems with unknown time-varying parameters were analyzed. The possible cases for compliance with the properties of the cooperative system were considered. The analysis of the conditions under which, for a given combination of properties of the system, it's possible to construct an interval observer, was held. Such observer allows to get...
This paper presents the results of field test and theoretical analysis driving resistance articulated 4×4 tracked robot test-bed. Tests were made on four different grounds. Designated elastomeric tracks resistance coefficients are much higher than for steel tracks. This information was important for the proper estimation of energy consumption in the process of driving. On the basis of obtained results...
In the paper an approach to Hammerstein system identification based on quantized low-power observations is presented. In the presented approach realisations of discrete-time multisine random processes are used as the Hammerstein system excitation and the overall Hammerstein system identification problem is decomposed into the linear dynamic control channel subsystem, the corresponding disturbance...
Collision avoidance is a fundamental problem in navigation. In this paper, we present a novel method of cooperative movement planning to examine how two vehicles can orchestrate their movements so as to avoid collisions and subsequently return to their intended paths. Movement planning in this research is solved by regarding it as a decision process. When the vehicles are at risk of a collision, the...
In this paper, the process and results of a parameter identification task for a maritime unmanned surface vehicle are presented. The system has been modeled using state of the art methodology, and the parameters have been estimated via a weighted least square optimization approach. The required measurement data have been taken from various maneuvre trials. For solving the optimization problem, a Particle...
This paper presents a design of identification-driven visual emotion recognition system for a social robot. The proposed modification includes identification step prior to emotion classification in order to provide a personalized emotion recognition. The facial detection and parametrization is done by FaceTracker application. The feature extraction step is based on authorial feature set definition,...
This paper presents the theoretical foundations of decision rule selection for dynamic multicriteria decision-making problems. Specifically, we will propose solution methods for the optimal control of complex systems governed by ordinary differential equations with vector-valued criteria. For this class of system we will define an extension of the Multiple Reference Points method, termed the Reference...
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