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The ability to land on a slope is a meaningful capability of a quadrotor. In slope landing, the controller applied to the quadrotor should precisely control the bottom plane parallel to the slope when touching down, as well as attenuate the disturbances from nonlinearities, ground effects and other interference. In this paper, an output feedback finite-horizon optimal control is used to accurately...
The problem of network disintegration has broad applications and recently has received growing attention, such as network confrontation and disintegration of harmful networks. This paper presents an optimized disintegration strategy model for complex networks and introduces the GA optimization method into the network disintegration problem to identify the optimal disintegration strategy, which is...
We propose a residual-consensus driven linear matching algorithm for simultaneous geometric parameter and point correspondence estimation. Using the linearization technique, we quantize geometric transformation into discrete levels with regard to each correspondence matrix. We identify the uncontaminated models by evaluating the statistical coherent of residual ordering and Maximum mean discrepancy...
Local image features show a high degree of repeatability, while their local appearance usually does not bring enough discriminative pattern to obtain a reliable matching. In this paper, we present a new object matching algorithm based on a novel robust estimation of residual consensus and flexible spatial consistency filter. We evaluate the similarity between different homography model via two-parameter...
Congestion control mechanisms are essential to stabilize the network system and provision quality of service. In this paper, we propose a robust congestion control scheme for time-delay and dynamic networks. First, a Smith predictor is used to compensate for time delay in the data transmission. Second, an active queue management controller is derived using internal model control theory for strong...
The practical applications of wireless sensor networks require robust time synchronization. In this paper we describe the Flooding Time Synchronization Protocol (FTSP) that provides time synchronization service in such networks. We found there are Key nodes and Non-key nodes when using FTSP in the case of temperature interference. This protocol was designed to utilize low communication bandwidth,...
In this paper, we present a robust adaptive neural network control design approach for strict-feedback nonlinear systems with uncertainties. In the controller design process, all unknown terms at intermediate steps are passed down and approximated by a single neural network at the last step. By this way, the structure of the designed controller is much simpler, and the control law and the adaptive...
Active queue management (AQM) mechanism is a powerful method, which aims to assist the TCP congestion control and to improve the trade-off between queuing delay and link utilization. Traditional price-based AQM algorithms suffer from sluggish response, poor robustness, and lack adequate adaptability against dynamic traffics. To improve AQM performance, this paper introduces artificial intelligence...
Congestion control can be regarded a distributed system, which consists of source algorithm like TCP, and link algorithm, such as active queue management (AQM). Shadow price has been derived from optimization theory to be implemented in routers as the AQM algorithm. In this paper, a control theoretic approach to analysis and design of the price is presented to enhance the AQM performance. We analyze...
The TCP/AQM dynamics is modeled as a time-delay congestion control system, in which the round trip time (RTT) has great influence on the system stability and network performance. Most of the existing active queue management (AQM) algorithms suffer from performance degradation, and fail to provide quality of service (QoS) when the RTT delay becomes remarkable. To address the problem, we present an...
Most of the existing congestion control schemes cannot guarantee the quality of service in wide-area networks with large round trip time (RTT). Aiming at the above problem, a two-degree-of-freedom congestion control strategy (named TCC) is proposed for improving the stability and robustness of the TCP/AQM system. TCC employs a modified Smith predictor with two additional controllers to compensate...
Active queue management (AQM) mechanism plays an important role in network congestion control. In this paper, we propose an effective AQM algorithm, named adaptive real queue control (ARQC). In particular, an explicit congestion indicator, virtual regulating time, is designed to detect network congestion. Then by analyzing the queuing system on routers, we present the guideline to calculate the dropping/marking...
Due to the challenging nature of nonlinearity and time-varying behaviors in TCP dynamics, traditional active queue management (AQM) algorithms suffer from poor robustness under dynamic network scenarios. To address the above problem, a novel congestion control scheme named FSM-AQM is proposed via the fuzzy sliding mode control, which is robust against uncertainties and time-varying parameters of the...
Numerous active queue management (AQM) schemes have been proposed to stabilize the queue length in routers, but most of them lack adequate adaptability to TCP dynamics, due to the nonlinear and time-varying nature of communication networks. To deal with the above problems, we propose an intelligent price-based congestion control algorithm named IPC. IPC measures congestion through using an intelligent...
Video surveillance usually requires multiple cameras to monitor objects of interest, such as people. However, different appearances acquired from different cameras of the same people often make the construction of a robust individualized appearance model very challenging. In this paper, we present a kernel-based method that maps the bag-of-feature based image features to a hierarchical representation...
Many image analysis tasks require an outlier detection procedure to identify the false matches. In this paper, a fast and effective outlier detection method is presented to match images in the uncalibrated case. This method employs a hypothesis test on the consistency of dominant orientations of the feature points to significantly increase the detection speed. Moreover, it can also effectively find...
In this paper, a comprehensive solution for managing abandoned objects is proposed, which means that the system can deal with the objects that are abandoned and removed. The system contains two adaptive abandoned object detection (AOD) methods that are both based on the Gaussian mixture model for real environments. The first method is more efficient than the second one, but the latter is more robust...
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