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Driving pattern recognition is an efficient way to ensure that the energy management strategy is suitable to the current driving pattern, so as to obtain a better performance of fuel economy. In this work, we propose an approach to recognize the driving pattern online and apply the results of recognition to minimize the fuel consumption of the bus with state-of-the-art equivalent consumption minimization...
Now that Autonomous Underwater Vehicles (AUVs) are exploring more challenging terrain than ever, the need for an obstacle avoidance system has become apparent. Obstacle avoidance systems (OAS) in unmanned systems are far from new. However, adapting existing methodologies to AUVs presents a new set of challenges. Underwater obstacle sensing relies on limited and often noise prone acoustic range sensors,...
This paper provides a linear approach to compute the voltages at any node on a residential grid based on the house instantaneous load and the presence of charging Plug-In Hybrid Electric Vehicles (PHEV) on the grid (and the corresponding instantaneous consumption or injection). Based on this linear operation, the paper provides a detailed Linear Programming (LP) formulation of the problem of charging...
The paper proposes a new idea, called "Interactive Energy", for the dynamic pricing and dispatching of the charging services of Electric Vehicles (EVs) in a micro-grid. In the proposed approach, the customers can choose their recharge time through an interactive application able to indicate different recharge times and related prices in function of the real time conditions of the micro-grid...
The vehicular ad hoc network (VANET) is an essential technology that enables the deployment of the intelligent transportation system (ITS), which improves the traffic safety and efficiency. For the efficient message delivery in VANET, it is desirable to provide a reliable and stable VANET routing protocol. However, VANET routing is challenging since the VANET is fundamentally different from conventional...
The design of the robotic vehicle VILMA at UNICAMP is developed in-vehicle platform Fiat Punto. In addition to a set of sensors, actuators, mechanism and components (hardware and/or software), new technologies should be developed in support of Automation, Control, Perception, Localization and Navigation. This work presents the design and simulation of path tracking control using model predictive control...
To achieve a usable range measurement feature using a Vehicle-Mounted monocular camera for ADAS (Advantage Drive Assist System), a pitch angle estimation with high accuracy is required. We propose a method for estimating pitch angle with a non-occurrence of cumulative error, and the initial pitch angle can be estimated simultaneously with only a Vehicle-Mounted monocular camera. We use the Harris-corner...
This paper models the energy demand of electric vehicles in a city as a function of space (location) and time. Energy demand formulations are derived for a number of scenarios ranging from individual vehicles to global demand in a large city. One of the important considerations for decision making in sizing and placement of charging stations is the characterization of local charging energy demand...
We address here a large scale routing and scheduling transportation problem, through introduction of a flow model designed on a dynamic network. We deal with this model while using a master/slave decomposition scheme, and testing the behavior on this scheme of both a GRASP algorithm and a Genetic algorithm.
The complete modeling and simulation of an unmanned vehicle with combined aerial and underwater capabilities, called Hybrid Unmanned Aerial Underwater Vehicle (HUAUV), is presented in this paper. The best architecture for this kind of vehicle was evaluated based on the adaptation of typical platforms for aerial and underwater vehicles, to allow the navigation in both environments. The model selected...
In this paper, we tackle the problem of map estimation from small set of vehicular GPS traces collected from low cost devices. Contrary to the existing works, we rely only on GPS information. First, we propose a fast implementation of Kalman filtering of spline-based road modeling. Our approach demonstrates a significant boost of the computation speed while maintained a good estimation error. Secondly,...
A global localization method for autonomous underwater vehicles (AUVs) based on background flow velocity map prediction is proposed. Background flow velocity maps with time stamps are assumed to be predicted by a regional ocean model with certain accuracy and these maps are preloaded onto vehicles. Vehicles measure (estimate) general absolute flow velocities at their locations through local sensing...
For mobile robots which operate in human populated environments, modeling social interactions is key to understand and reproduce people's behavior. A promising approach to this end is Inverse Reinforcement Learning (IRL) as it allows to model the factors that motivate people's actions instead of the actions themselves. A crucial design choice in IRL is the selection of features that encode the agent's...
The paper deals with the problem of decentralized fault detection, isolation and recovery for teams of networked robots. The proposed strategy is a combination of distributed and local approaches that allow the robots to deal with both recoverable and unrecoverable faults. A local adaptive fault observer is used to locally compensate recoverable faults, while a distributed fault detection and isolation...
This paper introduces and presents model predictive control approach based on Kautz function algorithm for path following control in autonomous car vehicle system. Predictive control is designed based on linearized vehicle and tire model, while the real vehicle is included a roll dynamic motion. The controller based on Kautz functions is compared with conventional method which is called Delta function...
A backstepping approach is proposed in this paper to cope with the failure of a quadrotor propeller. The presented methodology supposes to turn off also the motor which is opposite to the broken one. In this way, a birotor configuration with fixed propellers is achieved. The birotor is controlled to follow a planned emergency landing trajectory. Theory shows that the birotor can reach any point in...
We formulate the problem of wheeled mobile robot (WMR) modeling under wheel slip, while moving over rough terrain, as the integral of a differential algebraic equation (DAE) of either first or second order. That is, the elements of the model include both differential equations and kinematic constraints. While such a formulation is typical of Lagrangian dynamics in augmented form, we show how identical...
In order to realize lateral control of vehicles on an automated highway system (AHS), it is necessary to measure and/or predict vehicle deviation from the path to be followed (reference line). In this study, a simple multiple look-ahead distance scheme is proposed; in particular, simple feedback control that uses vehicle lateral deviations at three look-ahead points is proposed. Simulations are conducted...
In this paper, we study the performance of sensing in mobile sensor networks with imperfect knowledge of neighborhood mobility. We examine the impact of exchanging incorrect mobility information on the cost of sensing and the required target coverage. The study is performed for two target coverage models: an independent coverage model and a Markovian one. We demonstrate via extensive simulations that...
With the introduction of surround view cameras in modern vehicles and the possibility of calculating dense motion fields in real-time from a moving camera a detailed 3D reconstruction of the static environment is possible (structure-from-motion). Beside the necessity of a motion field between two image frames the task of triangulating those individual 2D point matches to 3D points in the world becomes...
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