The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
We describe and evaluate a novel optimization-based off-line path planning algorithm for mobile robots based on the Counterexample-Guided Inductive Optimization (CEGIO) technique. CEGIO iteratively employs counterexamples generated from Boolean Satisfiability (SAT) and Satisfiability Modulo Theories (SMT) solvers, in order to guide the optimization process and to ensure global optimization. This paper...
This paper focuses on target motion analysis by fusion of information from two moving acoustic sensors. These two sensors may obtain small measurements in order to make quick analysis of moving targets. In this situation, conventional approaches often fail to find accurate motion of targets. In this paper, a fusion algorithm for target motion analysis designed to handle this situation is proposed...
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...
This paper investigates the trajectory tracking control of the nonholonomic wheeled mobile robot (NWMR) using nonlinear model predictive control (NMPC). By defining the tracking error in the NWMR's local coordinate, the tracking problem is formulated into standard NMPC framework. However, the standard NMPC algorithm is computationally demanding so that it is difficult for the real-time implementation...
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 is devoted to a quantitative study of the sensitivity of cell decomposition path planning to various key criteria dealing with optimality and computational complexity. More specifically, the work analyzes the influence of various types of cell decomposition approaches (e.g. trapezoidal, rectangular) and cost functions used during the trajectory search phase (e.g. L1, L2 norms) in the performance...
Shared control techniques have a great potential to create synergies in human-machine interaction for efficient and safe applications. However, an optimal interaction requires the machine to consider the individual behavior of the human partner. A widespread approach for modeling human behavior is given by optimal control theory, where the movement trajectories of a human arise from an optimized cost...
We introduce a general framework for visual forecasting, which directly imitates visual sequences without additional supervision. As a result, our model can be applied at several semantic levels and does not require any domain knowledge or handcrafted features. We achieve this by formulating visual forecasting as an inverse reinforcement learning (IRL) problem, and directly imitate the dynamics in...
In this study, we propose an on-line learning system of gait pattern for a wearable robot to assist walking. In our learning system, the cost function is defined by the sum of the measured arm loading force of a user and the power consumption of the motors during walking. We confirmed that the arm loading force decreased with little change of power consumption by using the proposed algorithm.
Planning for object search requires the generation and sequencing of views in a continuous space. These plans need to consider the effect of overlapping views and a limit imposed on the time taken to compute and execute the plans. We formulate the problem of view planning in the presence of overlapping views and time constraints as an Orienteering Problem with history-dependent rewards. We consider...
To reduce the effects of modeling imprécisions, in the traditional “Receding Horizon Control” that works with finite horizon lengths, in the consecutive horizon-length cycles, the actually measured state variable is used as the starting point in the next cycle. In this design, within a horizon-length cycle, a cost function is minimized under a constraint that mathematically represents the dynamic...
Permanent-magnet synchronous motor is one of the most suitable choices in urban rail transit. On this occasion, the traction inverter need to keep low switching frequency in order to reduce switching losses, and six-step operation is needed to obtain the maximum output voltage. In order to achieve the multi-objective control and deal with a variety of constraints, model predictive control method is...
Online multi-object tracking generally addressed in tracking-by-detection paradigm. Multi-object tracking is more complicated when a frame consists of abrupt motion and similar appearance of objects. The abrupt motion and similar appearance cause ambiguity to the cost function, which gradually reduces assignment performance of the tracker. In this paper, we exploit the object appearance and dynamics...
This paper introduces a new approach to optimal online motion planning for human-robot interaction scenarios. For a safe, comfortable, and efficient interaction between human and robot working in close proximity, robot motion has to be agile and perceived as natural by the human partner. The robot has to be aware of its environment, including human motions, in order to proactively take actions while...
Data association problems are an important component of many computer vision applications, with multi-object tracking being one of the most prominent examples. A typical approach to data association involves finding a graph matching or network flow that minimizes a sum of pairwise association costs, which are often either hand-crafted or learned as linear functions of fixed features. In this work,...
This paper proposes a Newton extremum seeking algorithm based accurate global task coordinate frame (Newton-AGTCF) for precision contouring motion control of biaxial systems under complicated free-form contouring tasks. Specifically, a cost function is defined based on the reference contour and the current position. The point on the reference contour, where the minimal value of the cost function can...
This paper proposes an optimal tracking control of completely unknown affine nonlinear systems using a system augmentation scheme and a modified discounted performance function, where the feedforward and feedback control actions can be obtained simultaneously. We first present an adaptive identifier to estimate the unknown dynamics, where the estimated parameters are updated based on a new adaptive...
Understanding the stereotypical characteristics of human movement can better inform rehabilitation practices by providing a template of healthy and expected human motor control. Multiplicative noise is inherent in goal-directed movement, such as reaching to grasp an object. Multiplicative noise plays an important role in computational motor control models to help support phenomena such as stereotypical...
This paper addresses the safe and legible navigation of mobile robots in multi-agent encounters. A novel motion model provides the basis to predict, plan and coordinate agent trajectories in intersection scenarios. The approach establishes an implicit, non-overt cooperation between the robot and humans by linking the prediction and planning of agent trajectories within a unified representation in...
This paper introduces an extension to a method for fast and close to optimal trajectory generation for articulated robots in the case where dynamic constraints and real-time capability are considered. We aim at solving reaching motion problems without pre-defined timing requirements, where the robot starts from its current state trying to reach the final desired state. Our approach combines the advantage...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.