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In this paper, single-target tracking using radar measurements is addressed. Recently, algorithms based on Bernoulli random finite sets have proved efficient in a cluttered environment. However, in Bayesian approaches, the choice of the motion model impacts the trajectory estimation accuracy. To select an appropriate set of motion models, a joint tracking and classification (JTC) algorithm can be...
Trajectory models have numerous applications in the area of wiewlwss communications. The aim of this paper is to develop an empirical trajectory model for drifted motions. Recently, a highly flexible trajectory model based on the primitives of Brownian fields (TramBrown) was proposed by A. Borhani and M. Pätzold. This paper provides an empirical proof for TramBrown using global positioning system...
In this paper, a trajectory simulator for individuals, walking or running, is proposed. The individuals' movements are based on position and velocity kinematics relying on the heading angle. This angle is obtained from one of the three probabilistic profiles ("drop", "leaf" or "balloon"), which defines the possible directions that the individual will take. The trajectory...
The motion models of individuals should mathematically describe, as well as possible, the movements executed by an individual when he is walking, running or even stopping. There are some references in the literature with respect to individuals motion models, but most of them are based on image processing. In this paper, we proposed three probabilistic distribution profiles that can model the heading...
This study describes an adaptive model, which allows predicting industrial fermentation processes under uncertainty conditions. The model is based on a collection of deterministic differential thermal-controlled models. It predicts state variable dynamics under every controlling thermal profile as time series of random or fuzzy numbers, and adaptively refines parameters of their probability density...
Main drawbacks in single-camera multi-target visual tracking can be partially removed by increasing the amount ofinformation gathered on the scene, i.e. by adding cameras. By adopting such a multi-camera approach, multiple sensors cooperate for overall scene understanding. However, new issues arise such as data association and data fusion. This work addresses the issue of evaluating the performance...
Naval Surface Warfare Center Panama City Division (NSWC-PCD) has developed a System Performance and Layered Analysis Tool (SPLAT) using MATLAB. The overall goal is to detect terrorist threats, particularly in an open crowded area, in a timely manner. Given a sensor configuration and a scenario specification, it combines a layered set of threat detection sensors to determine overall system performance...
Solution of the problem of fault accommodation in nonlinear dynamic systems is related to constructing the control law which provides full decoupling with respect to fault effects. Existing conditions are formulated and calculating relations are given for the control law.
We investigate an optimal consumption and investment problem where we receive a certain fixed income stream that is terminated at a random time. It turns out that the optimal strategy and the value function for this problem differ considerably from the case where our income stream is certain to continue indefinitely. More specifically, the optimal consumption policy involves a function that is not...
Riding a unicycle is good exercise to enhance and keep rider's sense of equilibrium, reflexes and quickness. But a lot of people can not ride a unicycle because its stability. And there are no theoretically to be able to ride a unicycle. A way to do so is that, at first, the model of riding unicycle is simply considered as the cart-pendulum model, then using inputs and outputs obtained by measured...
The layered mobility model architecture, as introduced earlier, provides a framework for the construction of microscopic mobility models for wireless network simulations. In this paper, we are continuing our study of the architecture and provide the fundamental results necessary for the definition and analysis of theoretic models. This is done for the first time for such rich mobility framework, allowing...
Humans have unique motion preferences when pursuing a given task. These motion preferences could be expressed as moving in a straight line, following the wall, avoiding sharp turns, avoiding damp surfaces or choosing the shortest path. While it would be very useful for a range of applications to allow robot systems or artificial agents to generate paths with similar specific characteristics, it is...
A novel method is proposed to compute chaos threshold on dynamical systems based on the law of golden section and Lyapunov exponents from limited experimental data range. First, rough region of the system threshold is estimated by Lyapunov exponents with computation precision to be one digit after decimal dot and with a step size 0.1. Second, the exact threshold value is calculated in terms of the...
This paper considers an M-member "individual-based" continuous time swarm model with individuals moving with a nutrient profile (or an attractant/repellent) in an n- dimensional space. It is proved that the swarm members aggregate and eventually form a cohesive cluster of finite size for Gaussian Profiles. Moreover, all the swarm members will converge to more favorable areas of the Gaussian...
In this paper, a robust control method is proposed for rejecting the periodic disturbance. Cooperating with predictive function control (PFC), iterative learning (IL) is used to deal with the period mismatch, that is, iterative learning control (ILC) is used to handle the periodic errors while PFC doing its job of system process control. Simulation results shows that the IL-PFC algorithm achieves...
Random walk is one of the widely used techniques for information discovery in unstructured networks like ad hoc wireless networks (AWNs) and wireless sensor networks (WSNs). In a random walk, instead of taking all steps uniform randomly, our idea is to modify random walk to take some level biased steps to improve its energy efficiency and latency which are important design parameters in WSNs. The...
In this work we focus on iterative learning control (ILC) for iteratively varying reference trajectories which are described by a high-order internal model. The high-order internal model (HOIM) is formulated as a polynomial between two consecutive iterations. The classical ILC with iteratively invariant reference trajectories, on the other hand, is a special case of HOIM where the polynomial renders...
Variational integrators are powerful tools for simulating constrained mechanical systems as well as computing optimal control strategies. While there are well-established methods to incorporate holonomic constraints in variational integrators, there have also been alternative suggestions that have appealing benefits in terms of computational efficiency. We compare the standard holonomic constraints...
This paper deals with the design of a feedback controller that solves an output regulation problem for the nonlinear benchmark system known as TORA. The controller uses only measurements of the rotational position and is obtained through a certainty-equivalence approach.
We provide Lyapunov-based control laws that stabilize relative equilibria in a model consisting of particles that travel on the surface of a rotating sphere in a time-invariant flowfield. These control laws are of interest because they have applications in planetary-scale mobile sensing networks in air and sea. A rotating sphere is introduced so that the particles are subject to the Coriolis effect...
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