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Evaluating the performance of multi-target tracking with respect to tracks rather than unlabeled estimated points is important and challenging. Existing approaches assume exact knowledge of the ground truth. However, this is far from the reality. This paper proposes a method to deal with the case of unknown ground truth by measuring the difference between mock tracks and the assumed targets in the...
This paper deals with some fundamental problems of the constrained dynamic system, especially where dynamics and constraint are not congruous. First, we introduce a concept of compatibility of the system dynamics and constraint. It divides all constrained systems into three classes: incompatible (0% compatible), (partially) compatible, and congruous (100% compatible). We argue convincingly that the...
Multi-target tracking (MTT) has been an important and challenging area of research in the past several decades. A number of algorithms for MTT have been proposed and related performance evaluation (PE) is also gaining more attention. However, these PE methods assume exact knowledge of the ground truth, which is far from the reality. In this paper we deal with the PE of MTT without knowing ground truth...
This paper presents a follow-up and improvement of our previous work on conflict detection and resolution (CDR) for unmanned aircraft “sense-and-avoid” (SA) applications. More specifically, we propose an extension of our previous model predictive control formulation and algorithm that takes into account costs incurred by possible deviation from the desired destination so that the optimized solution...
This paper addresses the air traffic control problem of conflict detection and resolution (CDR) under intent uncertainty, in a multiple model (MM) trajectory information processing framework. The conflict detection is based on a predicted probability of conflict. The problem of conflict resolution (CR) is formulated as one of a chance-constrained model predictive control, whereby the constraint is...
We consider the detection component of a conflict detection and resolution system for air traffic management. A conflict is an event of a close encounter between two aircraft in the near future. The collision alert system has to balance between declaring alerts timely to true threats and reducing the false alarms. We compare two conflict detection schemes, namely, geometric and probabilistic method,...
In this paper, the tracking control problem is investigated for wheeled mobile robot systems in the presence of actuator saturation. To handle the tracking control problem with input saturation, a model predictive control scheme is developed via the feedback linearization. The feedback linearization control law is designed to linearize the nonlinear model which allows the application of a discrete...
The traditional model reference adaptive system (MRAS) is of parallel configuration. By representing the reference model as an equivalent closed-loop subsystem, these two subsystems can share a controller virtually. An embedded structure of MRAS is thereby presented. In this paper, two approaches are developed for designing the adaptive laws. The adaptive law based on Lyapunov stability theory is...
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