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This paper presents an approach to the formation control problem for autonomous non-holonomic mobile robots using a Non-linear Model Predictive Formation Control (NMPFC) algorithm that employs a leader-follower scheme. An explanation of the the NMPFC problem is given, after which the results of both simulations and experiments with a three robot formation employing the developed algorithm are discussed...
Pedestrian trajectory prediction is important in various applications such as driverless vehicles, social robots, intelligent tracking systems and space planning. Existing methods focus on analysing the influence of neighbours but ignore the effect of the intended destinations of pedestrians which also plays a key role in route planning. In this paper, we propose a novel two- stage trajectory prediction...
In this paper, based on quaternion and Euler angles, an attitude control algorithm is proposed for pitching and rolling of quadrotor aircraft. In addition, the target tracking algorithm of quadrotor aircraft is designed by using the collected video information and color feature recognition. The system is based on the homemade quadrotor aircraft, using gyroscope, accelerometer as the original measurement...
We address the problem of incrementally modeling and forecasting long-term goals of a first-person camera wearer: what the user will do, where they will go, and what goal they seek. In contrast to prior work in trajectory forecasting, our algorithm, DARKO, goes further to reason about semantic states (will I pick up an object?), and future goal states that are far in terms of both space and time....
New software applications for linear multivariable system identification are presented. The incorporated algorithms use subspace-based techniques (MOESP, N4SID, or their combination) to find a standard discrete-time state-space description, and optionally the covariance matrices and Kalman predictor gain, using input and output (I/O) trajectories. For flexibility, separate applications are offered...
In conditions of a mass character of higher education, the problems of student identification are relevant because of the differences in the contingent of students in terms of level of training, personal and cognitive characteristics. The learning process is characterized by the presence of uncertainty factors, which requires modeling and control of the application process of methods and tools of...
In the modern information society, accurate prediction of human mobility becomes increasingly essential in various areas such as city planning and resource management. With users' historical trajectories, the inherent patterns of their movements can be extracted and utilized to accurately predict the future movements. In this paper, based on a dataset of 100,000 individuals' actively uploaded location...
This paper presents a self-memory prediction model to mitigate the effects of image based visual servoing (IBVS) system under uncertainty. The performance of IBVS system is easily influenced by different tasks, diverse environments and uncertain disturbances. Through building a self-memory prediction model to keep previous movement tendency in the every current movement, the framework of a self-memory...
Accurate prediction of the future locations of the host vehicle as well as that of the surrounding objects is one of the key challenges in improving road traffic safety. The traditional approach for this task has been using physics-based motion models such as kinematic and dynamic models, the result of which is not reliable for long-term prediction. In this paper, we present simulation results demonstrating...
Communications survivability of mobile wireless segments in tactical military networks is and will be an enormous challenge in the present and future defence forces, which is vital to fulfill military missions in a timely manner. We have previously presented an autonomous system named OPAL, which uses distributed cooperative management solutions for enhancing communications survivability in volatile...
The interaction between a human driver and an automated driving system may improve when the automation is designed in such a way that it behaves in a human-like manner. This paper introduces a human-like steering model, in which the driver adapts to the risk due to uncertainty in the environment. Current steering models take a risk-neutral approach, while the fields of economics and sensorimotor control...
This paper explores the predictive power of perhaps the most well-supported human performance model in the context of a complex ecological task. The model is Fitts Law, which describes the classic speed-accuracy tradeoff of goal-directed motor behavior. The task is modern pistol shooting competition, which demands explicit cognitive strategy and full-body biomechanical coordination. Data obtained...
The present study has as objective to analyze frequencies of Thunderstorm that occurred in the province of Luanda (1998 to 2015), A thermodynamic study of an intense event, to evaluate the operation of the thermodynamic method. This method was based on the vertical profiles, predicted 48 hours in advance, indices of instability and trajectories of the HYSPLIT model for forecasting. Topographic influence...
Action prediction is an important item in the fields of pattem recognition and computer vision. Capturing evolution tendency cues is a key point to action prediction. Dense trajectory (DT) and dynamic image are both effective approaches to explore dynamic information in videos. DT is used to describe the features of action and has achieved state-of-the-art results on action recognition, but often...
This paper incorporates sampling-based global path planning with model predictive image-based visual servoing (IBVS) for quadrotor unmanned aerial vehicles (UAVs) equipped with a fixed camera. The proposed method produces safe control inputs of quadrotor in obstacle environment by taking image feature kinematics into account. Firstly, we utilize a sampling-based algorithm for optimal path planning,...
This paper focuses on the control of dynamical systems under the case that actual reference signals can not be available in real time. In such case, although predicted values are used as reference signals, the prediction errors degrade the control performance of the systems. To overcome this problem, the previous work presented the prediction governor which shapes predicted values. However, the previous...
In practice, high quality control for mechatronic systems is often achieved by augmenting classical control architectures like PID controllers with numerous tailored nonlinear characteristic parameter curves and cascades. This complexity can be significantly reduced by utilizing advanced model predictive controllers (MPC). Furthermore, desired objectives like minimum control error and effort can be...
The true onset time of a disease, particularly slow-onset diseases like Type 2 diabetes mellitus (T2DM), is rarely observable in electronic health records (EHRs). However, it is critical for analysis of time to events and for studying sequences of diseases. The aim of this study is to demonstrate a method for estimating the onset time of such diseases from intermittently observable laboratory results...
With the rapid development of mobile Internet, the ways in which users access the network become diverse, which provides much convenience for us to collect huge amount of users' behavior information. In this paper, we combine data acquisition based on wireless access and brand analysis innovatively. This paper analyzes proportions of mobile terminal brands on campus using the data collected from WiCloud...
Model-based predictive control is an effective method for control the large scale systems. Method is based on on-lin solution of control task over the control horizon using current and past measurements as well as the system model. Because model and measurement uncertainty, predicted and plant outputs might be different and plant output may exceed plant output constraints. Generated control is not...
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