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This paper presents a simplified triggering mechanism for event-triggered control systems. The novelty of our work resides in the use of a triggering condition that only updates the controller when the time derivative of the Lyapunov function becomes non-negative, without taking into account the measurement error. Directly or indirectly, most previous works use the measurement error in the triggering...
Event-based strategies for control and estimation can offer great benefits to the field of indoor localisation. They achieve a more efficient use of resources, especially in network communications. In this paper we present the implementation of an event-based state estimator for indoor positioning of a mobile robot. The detection is carried out by a laser scanner attached to a mini-PC, that has not...
We present the application of an event-based state estimator to the guidance of a mobile robot. The control feedback loop is closed by means on an estimator based on an Unscented Kalman Filter (UKF) with event-based updates. The estimator requests measurements from a camera sensor only when it needs them. The measurements are triggered by an adaptive condition on the pose estimation error covariance...
Summary Using external cameras to achieve robot localization has been widely proposed in the area of Intelligent Spaces. Recently, an online approach that simultaneously obtains robot’s pose and its 3D structure using a single external camera has been developed [8]. Such proposal relies on a proper initialization of pose and structure information of the robot. The present paper proposes a solution...
This article presents an aperiodic control solution for the remote guidance of a convoy of intelligent vehicles tracking nonlinear trajectories. To accomplish this, it is assumed that the longitudinal and lateral stability problems are decoupled. A centralized self-triggered consensus controller ensures convoy stability, thus maintaining the desired distance between vehicles while also achieving a...
This paper presents the autonomous, non-intrusive and universal electronic equipment PGAMS: Portable Global Activity Measurement System, which is able to simultaneously measure and synchronously register the treble driver–vehicle–route activity. It allows one to evaluate the direct effect that real road traffic conditions have on environmental pollution. Among the variables to be simultaneously measured...
This article presents a control solution for the guidance of wheeled convoy units in non-linear trajectories. The proposal consists of a Mamdani fuzzy controller to solve the Decentralized Control problem as applied to a set of units following a leader, whilst guaranteeing the so called "string stability " condition of the convoy. Fuzzy control design is described for each of the follower...
This paper focuses on the developed methodology for the experimental evaluation of electrical vehicle-driver interaction and its effect on relative electromagnetic emissions, i.e. detecting in which way the driving style determines these pollutant emissions. Besides the theoretical aspects, specific instrumentation and set-up designed for this work, several results directly registered from electrical...
This paper presents an approach to solve a 3D tracking of mobile robots based on visual information from a fixed and calibrated camera. The proposed algorithm builds a metric model of primitives of the object structure. The approach allows a redefinition of the tracking problem into one of bayesian inference. Robot pose is the result of a sequential algorithm that searchs for a posterior distribution...
This paper presents a new proposal for positioning and guiding mobile robots in indoor environments. The proposal is based on the information provided by static cameras located in the movement environment. This proposal falls within the scope of what are known as intelligent environments; in this case, the environment is provided with cameras that, once calibrated, allow the position of the robots...
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