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This article shows the effects of various parameters like modulation or the radio channel conditions on sea turtles trajectory estimated by terrestrial localization algorithms. This work is part of wireless sensors networks domain in the marine and terrestrial environment in the world of living beings. It allows to identify and understand the parameters that lead to inaccuracies over the sea turtles...
Pedestrian inertial navigation systems are nowadays integrated in all kind of location-based services. The orientation, particularly the heading estimation, is one of the most critical parts of the navigation system. The heading angle suffers from drift error. The algorithms proposed in the literature apply position corrections, which do not prevent the drift error to grow. We propose a novel landmark-based...
We present a new method for the application of image-based river velocimetry. Our method is dedicated to high velocity river flows and it is based on an optical flow scheme. Unlike traditional Particle Image Velocimetry (PIV) methods, optical flow provides dense estimations and it is highly adaptable to different applications. We therefore propose a new physics-based optical flow derived from scalar...
The contour error is the core index to measure the machining quality, so how to get an accurate contour error value and reduce contour error is still an urgent problem in the production process, especially in high-speed and large-curvature contouring tasks. In this paper, a cross-coupled iterative learning control (CCILC) based on natural local approximation of contour error is proposed to reduce...
This paper deals with the scenario of two multi-UAV systems (so-called teams), each flying from a starting point to a target point. The teams meet on their ways and have to avoid collisions in the horizontal plane. Both teams work independent of each other but use the same formation-control and obstacle-collision-avoidance algorithm. The leaders measure obstacles' positions, use a Kalman Filter to...
Conventional point object model based automotive radar tracking system assumes at most one detection received from the target object at a time. However, in real applications for an extended object, such as a passenger car, located within a close range to a high-resolution radar or LIDAR, the system usually receives multiple reflections from different parts of the object. This can introduce large bias...
Modeling and filtering of a mobile object stochastic trajectory on the basis of fractal Wiener process taking into account the Hurst indicator are offered. For numerical realization of this processes the wavelet based decomposition is used. The peculiarities of trajectory parameters estimation by using Kalman filter and the wavelet algorithm are investigated. The illustrating examples are given.
Within the complex driving environment, progress in autonomous vehicles is supported by advances in sensing and data fusion. Safe and robust autonomous driving can only be guaranteed provided that vehicles and infrastructure are fully aware of the driving scenario. This paper proposes a methodology for feature uncertainty prediction for sensor fusion by generating neural network surrogate models directly...
This paper presents a framework of simulation-based design for robotic care devices developed to reduce the burden of caregiver and care receivers. First, physical interaction between the user and device is quantitatively estimated by using a digital human simulator. Then we introduce a method for optimizing the design parameters according to given evaluation criteria. An example of trajectory optimization...
A guidance problem with the impact time constraint is considered under nonlinear kinematics. The guidance design makes the range to the stationary target behave as a quartic polynomial in time. The analytical availability of the polynomial coefficients provides a feasible basis. Additionally, another important feature of the proposed impact time guidance law is that it does not rely on a time to go...
The paper addresses a problem of ballistic object trajectory estimation on the basis of measurements from a cinetheodolite electro-optical tracking system. The object flight dynamics is modeled using a three degrees of freedom equations of motion. The estimation of object trajectory is performed with the use of an Extended Kalman Filter.
The problem of parameters identification is solved by means of the combined maximum principle. Its use allows one to decompose the original system into subsystems for each of the observed state variables. The first stage of solving the extremal problem is to solve the structural synthesis problem. Within its framework there are causal characteristics leading to the state changes. They are treated...
Planning under motion and observation uncertainties requires the solution of a stochastic control problem in the space of feedback policies. In this paper, by restricting the policy class to the linear feedback polices, we reduce the general (n2 + n)-dimensional belief space planning problem to an (n)-dimensional problem. As opposed to the previous literature that search in the space of open-loop...
The use of the combined maximum principle provides a constructive solution to the problem of tracking the maneuvering aircraft in the form of the inverse dynamics problem. In the article based on this approach the effective tracking filter is developed. It is based on the combined use of techniques for construction the synthesis function and the approach, which consists in considering the unknown...
A computational approach for system identification for the attitude dynamics of a rigid body is proposed. The estimation and system identification for the rigid body are particularly challenging as they evolve on the compact nonlinear manifold, referred to as the special orthogonal group. The current methods based on local parameterizations or quaternions suffer from the inherent singularities or...
In filtering, control, and other mathematical engineering areas, it is common to use a model-based approach, which splits the problem into two steps: 1) model identification and 2) model-based design. Despite its success, the model-based approach has the shortcoming that the design objective is not taken into account at the identification step, i.e., the model is not optimized for its intended use...
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...
The report provides test results of checking the hypothesis on the Gaussian distribution of errors in the position determinations defined during numerous flights within one-hour time sample for SINS installed on board high-maneuverable objects. The problem under consideration concerns the correctness in the employment of quality evaluation criteria for SINS navigation solution based on the hypothesis...
Simulation of a mobile object stochastic trajectory on the basis of the fractal Wiener process taking into account the Hurst indicator is offered. For numerical realization of this process the wavelet based decomposition is used. The peculiarities of trajectory parameters estimation by using the Kalman filter and the synthetic algorithms of nonlinear filtering are considered. An example of the object...
The accurate rotor position tracking and speed control of Hybrid Stepping Motor requires complete state information for investigation. In this paper, rotor position tracking is addressed from the framework of Lyapunov-based control and passivity based control method. In the former control scheme, nonlinear estimation technique employs a nonlinear observer along with Lyapunov-controller to estimate...
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