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This paper approaches the deadlock prevention problem for the well known class of S3PR used in Resource Allocation Systems. The proposed control policy is based on inhibitor arcs and the new Petri net class will be called S3PR2. The liveness characterization of this new class is given. The main application of the approach is to robot motion for a team of robots evolving in a partitioned environment...
Vision-based hand gesture recognition relies on the extraction of features describing the hand, and the appropriate set of features is usually selected in an empirical manner. We propose in this article a systematic selection of the best features to be considered. An iterative sequential forward feature selection (SFS) approach is proposed to combine the features with the highest recognition rate...
We propose an appearance-based loop closure detection algorithm based on binary features and a Bag-of-Words scheme. Unlike other approaches that build the visual dictionary offline, we introduce an indexing method for binary features, which, in combination with an inverted index, enable us to obtain loop closure candidates in an online manner. These structures are used in a discrete Bayes filter to...
This paper presents the software tool used at the Institute of Industrial and Control Engineering (IOC-UPC) for teaching and research in robot motion planning. The tool allows to cope with problems with one or more robots, being a generic robot defined as a kinematic tree with a mobile base, i.e. the tool can plan and simulate from simple two degrees of freedom free-flying robots to multi-robot scenarios...
Shortening product lifecycles and small lot sizes require manufacturing systems to adapt increasingly fast. Many existing machine tools, handling and logistics systems are already generic and not bound to a specific product a-priori. Yet this flexibility and reconfigurability on the asset level is lost in automated systems that are limited to executing a small set of predefined actions in a fixed...
In this paper consensus in second-order multi-agent systems with a non-periodic sampled-data exchange among agents is investigated. The sampling is random with bounded inter-sampling intervals. It is assumed that each agent has exact knowledge of its own state at all times. The considered local interaction rule is PD-type. The characterization of the convergence properties exploits a Lyapunov-Krasovskii...
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