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The underwater vehicle-manipulator system (UVMS) generally has more degrees of freedom than those required to perform a given task. Because of these extra of degrees of freedom, UVMS has infinite combinations of joint velocities. In this paper, in order to generate the joint angle trajectories of the manipulator, a redundancy resolution is performed to minimize the distance between the position of...
A novel anomaly detection algorithm is proposed to detect anomalies in trajectory data of autonomous underwater vehicles (AUVs). Compared to existing work, the proposed algorithm estimates vehicle speed (i.e., through-water speed) from trajectory data and detect abnormal motion with estimated vehicle speed by a threshold technique. The influence of ocean flow on AUVs is significant and must disturb...
Underwater mobile sensor node localization is a key enabling technology for several subsea missions. A novel scalable underwater localization scheme, called Best Suitable Localization Algorithm (BLSA), is proposed to dynamically fuse multiple position estimates of sensor nodes using fuzzy logic, aiming at improving localization accuracy and availability along the whole trajectory in missions. Numerical...
The multilayer perceptrons (MLPs) have been widely used in many communication applications, however, the learning process of the multilayer perceptrons often becomes very slow, which is due to the existence of the singularities in the parameter space. As the singularities significantly affect the learning dynamics of MLPs, the standard gradient descent method is not Fisher efficient. In order to overcome...
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...
Dynamic programming is an effective technique for the evaluation of the potential of optimal fuel consumption of drive trains, as it guarantees a globally optimal solution. This paper investigates two major problems associated with the application of dynamic programming. The first problem is the high computational complexity. Iterative dynamic programming is proposed as an alternative to dynamic programming...
The paper treats a class of human walking robots, the athlete robot (AR). The dynamic equations of this model are generated by Euler Lagrange method as a multi-input-multi-output under-actuated model. The balancing control on one leg in the stance phase is studied. The hierarchical sliding mode control algorithm is proposed. Numerical simulations show the method efficiency.
The vehicular inverted pendulum (VIP) system is one of the most important issues in dynamics and control theory, and has been widely used as a benchmark for testing control algorithms. However, the tracking control and swing-up control of the VIP system have often been investigated separately. In this paper, by combining the Zhang dynamics (ZD) method and the traditional gradient dynamics (GD) method,...
Small/micro Unmanned Aerial Systems (UAVs) require the ability to operate with constraints of a diverse, automated airspace where obstacle telemetry is denied. This paper proposes a novel Sense, Detect and Avoid (SDA) algorithm with inherit resilience to sensor uncertainty. This is achieved through the interval geometric formulation of the avoidance problem, which by the use of interval analysis,...
The inclusion of robots in therapy is becoming common due to robots' power, repetitive motion ability, reprogramming capacity and adaptability to new tasks. In recent years, the demand for rehabilitation services has increased due to the rising number of patients with disability. In this paper, we propose a solution to the rising demand for therapists' services by combining Learning from Demonstration...
Differential equation is a useful way to describe nonlinear systems. In general, integration is used to solve them, which is a forward method using current information to get the future information. In some special occasions where the system has a fix final condition and a free initial condition, a new kind of integration method with a backward direction is needed. This paper presents a new kind of...
In this paper localization using UWB positioning system and an inertial unit containing a single accelerometer is considered. The main part of the paper describes a novel algorithm for person localization. The algorithm is based on modified Extended Kalman Filter and utilizes TDOA (Time Difference of Arrival) results obtained from UWB system and results of acceleration measurement performed by the...
Trajectory planning in airborne networks is a primary application of Unmanned Aerial Vehicle (UAV) communication. The literature contains algorithms focusing on collision avoidance, intelligent task assignment and path planning among UAVs. Cooperative schemes exist in which the UAVs communicate with each other to reach a consensus on how each vehicle will take up one trajectory at a time efficiently...
Observation-based slicing is a recently-introduced, language-independent slicing technique based on the dependencies observable from program behavior. The original algorithm processed traditional source code at the line-of-text level. A recent variation was developed to slice the tree-based XML representation of executable models. We ported the model slicer to source code using srcML to construct...
Considering the connection between black-box optimization problem and reinforcement learning (RL) problem, we can solve a RL problem by black-box optimization algorithm. Especially, extremum seeking (ES) is a notable black-box optimization algorithm, but there exist two studies which employs ES to solve a specific RL problem. In this study, we formulate such a general RL problem as which has a stochastic...
This paper introduces the planning algorithm Sa-feRRT, which extends the rapidly-exploring random tree (RRT) algorithm by using feedback control and positively invariant sets to guarantee collision-free closed-loop path tracking. The SafeRRT algorithm steers the output of a system from a feasible initial value to a desired goal, while satisfying input constraints and non-convex output constraints...
In context of human-machine-interaction trajectories need to be rerouted or re-planned with reduced dynamical constraints in order to avoid collisions. This requires online feasible algorithm for trajectory planning in space. In this paper a new method for planning time-optimal trajectories subject to dynamic and geometrical constraints is proposed. Distinctively to other work, both spatial and temporal...
We present a method to model and classify trajectory data that come from surveillance videos. Observations of the locations of moving entities are used to estimate their expected velocity in the scene. Such estimation is performed by a Gaussian process regression that enables to approximate probabilistically the expected velocity of entities given some observed evidence in the scene. Subsequently,...
In this paper, we present a mid-level collision avoidance algorithm for autonomous surface vehicles (ASVs) based on model predictive control (MPC) using nonlinear programming. The algorithm enables avoidance of both static and moving obstacles, and following of a desired nominal trajectory if there is no danger of collision. We compare two alternative objective functions, where one is a quadratic...
A simple Line-Of-Sight (LOS) based trajectory tracking algorithm intended for underactuated vehicles is presented. Time parametrized trajectories in two dimensions are considered. Local exponential stability for straight trajectories and ultimate boundedness for general trajectories is shown for the guidance law error dynamics, using Lyapunov perturbation analysis. The results are verified in simulations...
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