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Planning is an important method in self-adaptive systems. Existing approaches emphasize the functional properties of the systems but do not consider possible alternative adaptations resulting in system functionality with different grades of quality. In compositional adaptation, the adaptation process should identify not only a feasible system configuration, but a good one. In safety-critical systems...
With the announcement of the “Stadtpilot”- Project the Technische Universität Braunschweig has accepted the challenge of guiding a vehicle fully autonomously in the complex environment of Braunschweig's entire ring road. Autonomous driving on this two-lane urban road includes interaction with traffic, behavior at intersections, lane change maneuvers at speeds up to 60 km/h as well as merging into...
In this paper, we propose a novel computation model for solving the distributed optimization problem where the objective function is formed by the sum of convex functions available to individual agent. Our approach differentiates from the existing approach by local convex mixing and gradient searching in that we force the states of the model to the global optimal point by controlling the subgradient...
In this paper an observer for a polynomial nonlinear (nonautonomous) system constrained to a bounded subset of the state space is considered. The presented approach allows the construction of a locally asymptotically stable observer, which is guaranteed to be stable for any possible state within the limits. It is based on a theorem of Jacobi and Prestel. The problem is rewritten as an optimization...
In this paper a novel method called Sampling-Based Model Predictive Control (SBMPC) is proposed as an efficient MPC algorithm to generate control inputs and system trajectories. The algorithm combines the benefits of sampling-based motion planning with MPC while avoiding some of the major pitfalls facing both traditional sampling-based planning algorithms and traditional MPC. The method is based on...
Modern data centers must provide performance assurance for complex system software such as multi-tier web applications. In addition, the power consumption of data centers needs to be minimized to reduce operating costs and avoid system overheating. Various power-efficient performance management strategies have been proposed based on dynamic voltage and frequency scaling (DVFS). Virtualization technologies...
In this paper, a method is proposed for reconstructing the trajectory and shape of a rigid body in a damped environment from distributively collected, asynchronous data. In this problem setting, both the shape parameters of the rigid body and its trajectory are unknown. The shape/trajectory recovery problem is modeled as a minimization of energy dissipation under geometric and acceleration constraints...
The purpose of work in this paper is to present an approach for lowering impact in the deployment of hoop truss deployable space antennas. An optimization method is used to reduce the peak value of deployment angular acceleration with trajectory planning of driving cable by Bezier curves. Design variables and constraints of the optimization problem are discussed, and then the problem is solved by...
This paper addresses both path tracking and local trajectory generation for autonomous ground vehicles. An optimisation based two-level control framework is proposed for this task. The high-level control operates in a receding horizon fashion by taking into account real-time sensory information. It generates a feasible trajectory satisfying the nonlinear vehicle model and various constraints, and...
Switching-time optimization has applications in local motion planning using the geometry of the nonlinear vector fields that govern the control system. In this paper, we present an algorithm for computing the second derivative of a switching-time cost function that enables second-order numerical optimization techniques that often converge quickly compared to first-order only algorithms. The resulting...
A control scheme for efficient and safe path and motion planning of industrial robots is proposed. For motion planning of robotic manipulators, an offline method is developed which generates feasible trajectories of the joints such that a given performance criterion is maximized. The planning problem considering obstacle avoidance is converted to an optimization problem with interior points for the...
This paper presents the design and implementation of a target tracking test bed based on wireless sensor network (WSN). The test bed is made up of a group of ultrasonic sensor nodes for ranging, a robot as mobile target for tracking and a laptop as base station for visualization. A new incremental optimization algorithm based on trilateration as well as a kind of changeable periodic scheduling scheme...
In this paper, the Multiple Trajectory Search (MTS) is presented for single objective constrained real-parameter optimization problems. The MTS uses multiple agents to search the solution space concurrently. Each agent does an iterated region search using one of three candidate region search methods. By choosing a region search method that best fits the landscape of a solution's neighborhood, an agent...
The paper presents an Ant System based algorithm to optimally plan multi-gravity assist trajectories. The algorithm is designed to solve planning problems in which there is a strong dependency of one decision on all the previously-made decisions. In the case of multi-gravity assist trajectory planning, the number of possible paths grows exponentially with the number of planetary encounters. The proposed...
An efficient design of a Multi-Objective Learning Classifier System for multi-flight navigation is presented. A classifier is represented by a set of rules, which are used to simultaneously navigate all the flights in the airspace. Navigation of a flight is based on the relation of the flight with factors of the air traffic environment such as wind, storm as well as other flights. This system continually...
The TORCS Endurance World Championship is an international competition in which programmers develop and tune their drivers to race against each other using TORCS, a state-of-the-art car racing simulator. In this work, we applied evolutionary computation to develop a driver for the 2009 edition of this competition. In particular, we focused on the optimization of the car setup of an existing driver...
In many applications it can be advantageous for the decision maker to have multiple options available for a possible realization of the project. One way to increase the number of interesting choices is in certain cases to consider in addition to the optimal solution x* also nearly optimal or approximate solutions which differ in the design space from x* by a certain value. In this paper we address...
This paper presents a polar-space optimal kinematic controller design based on ant colony optimization (ACO) computing method for omnidirectional mobile robots with three independent driving wheels equally spaced at 120 degrees from one another. The optimal control parameters are obtained by minimizing the performance index using the proposed ACO computing method. These optimal parameters are used...
This paper presents an algorithm for multiobjective optimization that blends together a number of heuristics. A population of agents combines heuristics that aim at exploring the search space both globally and in a neighborhood of each agent. These heuristics are complemented with two restart mechanisms and a combination of a local and global archive. The hybrid algorithm is tested at first on a set...
Remote sensing of environmental systems is getting more and more attention as the amount of applications and platform increases and costs are going down. Early applications were taking advantage of manned aircrafts and satellites to gather data but the trend is currently shifting to cheaper platforms: Unmanned Air Vehicles (UAVs). UAVs have tremendous advantages thanks to their on-board processing...
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