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Due to the ubiquity of GPS enabled devices and the advances in sensing technologies, trajectory data has become abundant. Regions of interest are important since they describe specific hot-spots within the data that often correlate with domain specific phenomena. Traditional region of interest mining utilises grid based rasters to model space. This suffers from two main problems: hard to determine...
With the advances of wireless technologies, moving objects or users equipped with sensors are located and tracked by wireless sensor networks. Recommendations for the direction and route in exhibition by analyzing and mining the user's movement behavior can be conducted. In this paper, we study how to mine the data of historical trajectories and develop an approach which can guide the users. When...
Inverse Reinforcement Learning (IRL) is an approach for domain-reward discovery from demonstration, where an agent mines the reward function of a Markov decision process by observing an expert acting in the domain. In the standard setting, it is assumed that the expert acts (nearly) optimally, and a large number of trajectories, i.e., training examples are available for reward discovery (and consequently,...
This paper presents a similarity measure that combines low-level trajectory information with geographical domain knowledge to compare vessel trajectories. The similarity measure is largely based on alignment techniques. In a clustering experiment we show how the measure can be used to discover behavior concepts in vessel trajectory data that are dependent both on the low-level trajectories and the...
This work proposes a control algorithm to stabilize a circular formation of AUVs tracking a time-varying center. We also consider the problem of uniform distribution of all the agents along the circle from two approaches: all-to-all and limited communication. We tackle with this communication constraint using a cooperative control strategy which includes the Laplacian matrix of the communication graph...
Existing reachability theory and optimal control theory are applied to a class of nonlinear systems with ellipsoidal initial reachability sets, reflecting information typically provided by industry-standard optimal estimation methods. Analytical expressions for position-and velocity-extrema are developed, yielding necessary conditions for reachability as well as tools for significant reduction in...
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.
When the (almost) disturbance decoupling problem by state feedback is solvable, and under some rather unrestrictive minimality assumption, all the poles of the closed-loop system can simultaneously be placed, except the so-called fixed poles (which are present for any solution). We present here a new approach to solve the (almost) disturbance decoupling problem based on the investigation of fixed...
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...
A new type of global stability is introduced and its equivalent Lyapunov characterization is presented. The problem of global stability of the compact set composed by all invariant solutions of a nonlinear system (several equilibriums, for instance) is analyzed. Consideration of such set allows us to present global stability properties for multi-stable systems.
The article is devoted to the analysis of two optimal control problems. We first consider a model proposed by Arechavaleta et al. (see) describing the goal-oriented locomotion, for which the control on the derivative of the curvature ???? along the trajectory is supposed bounded. Necessary conditions on optimal trajectories are given. We then investigate an extension of this model obtained by removing...
A design scheme of the finite-time tracking controller is given for a general class of nonholonomic systems including extended chained systems, extended power systems, underactuated surface systems, etc. By introducing a time-varying state transformation based on the concept of minimal dilation degree, this class of nonholonomic systems is transformed into a linear time-varying control systems. The...
Reinforcement learning suffers scalability problems due to the state space explosion and the temporal credit assignment problem. Knowledge-based approaches have received a significant attention in the area. Reward shaping is a particular approach to incorporate domain knowledge into reinforcement learning. Theoretical and empirical analysis of this paper reveals important properties of this principle,...
Path planning of spherical robots is usually carried out based on a continuous motion. However, actuators such as stepping motors are driven by discrete input signals that generate motion in rotational steps. The results would therefore be different from the continuous path planned for the spherical robot. The spherical robot under study incorporates two stepping motors, which generate the rotation...
Timed Continuous Petri Net (TCPN) systems are piecewise linear models with input constraints that can approximate the dynamical behavior of a class of timed discrete event systems. This paper concentrates in the development of a control structure for TCPN that transfers the system from the initial state to another desired one. The resulting control law consists in a Linear Programming Problem, which...
We study the solution properties of a family of inverted pendulum systems driven by odd periodic forcing. Using the Schauder fixed point theorem, we show that the inverted pendulum with an odd periodic driving acceleration at the pivot always possesses an odd periodic solution. Fundamental to the production of good estimates is the development of a Green's function for an unstable harmonic oscillator...
Dielectrophoresis (henceforth called as DEP) is an electrokinetics-based phenomenon, that involves the motion of a particle due to interaction between its dipole moment and a nonuniform electric field around it. This technique is very effective in particle manipulation and separation. Here we consider the control problem involved in moving a particle in the DEP system, from one specified location...
This paper extends the nonlinear ISS small-gain theorem to a large-scale time delay system composed of three or more subsystems. En route to proving this small-gain theorem for systems of differential equations with delays, a small-gain theorem for operators is examined. The result developed for operators allows applications to a wide class of systems, including state space systems with delays.
In this paper, we propose a new iterative learning control (ILC) scheme, which is devoted to dealing with unknown parameters that are both time varying and iteration varying. In particular, we consider iteration-varying parameters that are generated by a second-order internal model. By incorporating the internal model into the parametric learning law, the ILC scheme can handle more generic nonlinear...
Hula-hoop is not only one of familiar toys but also interesting system as a nonlinear control system. While humans play hula-hoop, hoop does not slide on the body but rotates around it. Though it is controlled only by the motion of the body, humans can realize enduring rotary motion without dropping hoop. The purpose of this paper is modeling and control of hula-hoop system as a nonlinear control...
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