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Autonomous legged robots will be required to handle a wide range of tasks in complex environments. While a lot of research has focused on developing their abilities for periodic locomotion tasks, less effort has been invested in devising generalized strategies for dynamic, non-periodic movements. Motion design approaches are frequently enlisted in the form of teleoperation or predefined heuristics...
Current state-of-the-art vehicle safety systems, such as assistive braking or automatic lane following, are still only able to help in relatively simple driving situations. We introduce a Parallel Autonomy shared-control framework that produces safe trajectories based on human inputs even in much more complex driving scenarios, such as those commonly encountered in an urban setting. We minimize the...
Optimization of batch crystallization is studied with tight constraints on the maximum rate of change of batch temperature or maximum rate of evaporation. It is observed that under tight constraints, the constraint has the greatest effect on the shape of the batch trajectory. Three crystallization systems are simulated for different values of the batch time and crystal yield. The resulting temperature...
Optimal path planning in dynamic environments for an unmanned vehicle is a complex task of mobile robotics that requires an integrated approach. This paper describes a path planning algorithm, which allows to build a preliminary motion trajectory using global information about environment, and then dynamically adjust the path in real-time by varying objective function weights. We introduce a set of...
A racing line is a trajectory that allows car of defined parameters to travel through a given track in minimum time. The growing competition in motorsports racing increases a demand for planning the vehicle path as accurately as possible, what opens a room for computerized methods. In this work, a method of race line generation basing on known optimization methods was presented and implemented using...
We approach linearly constrained convex optimization problems through their dual reformulation. Specifically, we derive a family of accelerated dual algorithms by adopting a variational perspective in which the dual function of the problem represents the scaled potential energy of a synthetic mechanical system, and the kinetic energy is defined by the Bregman divergence induced by the dual velocity...
A computational approach for system identification for the attitude dynamics of a rigid body is proposed. The estimation and system identification for the rigid body are particularly challenging as they evolve on the compact nonlinear manifold, referred to as the special orthogonal group. The current methods based on local parameterizations or quaternions suffer from the inherent singularities or...
This paper deals with the optimal output transition problem under saturation constraints on the control effort. The recently proposed pseudo inversion approach is here adopted to define a feedforward action optimizing the set-point following response of a given stable closed-loop system Σf,c. To take into account saturating actuators, the optimal external input reference r(t) forcing Σf,c is assumed...
Analyzing and mining trajectories of moving objects (such as persons or vehicles) in the cities bring a promising way to discover the potential knowledge and therefore can foster diversified applications, including personalized travel services, intelligent transportation systems (ITSs), and etc. For increasing the intelligence of current public transit systems, the paper proposes to discover and utilize...
Microgrid is a cluster of distributed (renewable) generation sources, storage units and loads, which, when controlled in an optimal fashion, can improve both the quality of the local power supply as well as the performance of the overall power distribution system. In this paper we present a robust control methodology for microgrids that can cope with uncertainties introduced by intermittent renewable...
Studying transient properties of nonlinear systems is an important problem for safety applications. Computationally, it is a very challenging problem to verify that a nonlinear system satisfies a safety specification. Therefore, in many cases, engineers try to solve a related problem, i.e., they try to find a system behavior that does not satisfy a given specification. This problem is called specification...
Optimal control finds an optimal input trajectory which steers an initial state to a desired final state while satisfying given state and input constraints. However, most efficient approaches are restricted to a single initial state. In this paper, we present a new approach, which combines reachability analysis with optimal control. This enables us to solve the optimal control problem for a whole...
In this work, we study a novel approach towards the reference-tracking feedforward control design for linear dynamical systems. By utilizing the superposition property and exploiting signal decomposition together with a quadratic optimization process, we obtain a feedforward design procedure for arbitrary linear multi-input and multi-output (MIMO) systems with arbitrary time/parameter-varying characteristics...
A formal safety controller synthesis method for power grid frequency regulation using energy storage systems is proposed. After a fault, with uncertainties in the fault clearing time, the generator machine angles and rotor speed deviations will enter a set of post-fault states that can be over-approximated using reachability analysis. We use the robust neighbourhood approach to cover this set using...
This paper proposes a method for trajectory planning for an Unmanned Aerial Vehicle (UAV) in three dimensions using Partial Differential Equations (PDEs) for application in dynamic hostile environments. The proposed method exploits the dynamical property of fluid flowing through a porous medium. This method evaluates risk to generate porosity values through out the computational domain. The path that...
Mobile location-based advertising has seen a lot of progress recently. We study the problem of optimal user targeting and monetization through advertising, from the point of view of the owner of a venue such as a shopping mall, an urban shopping district or an airport. The fundamental distinguishing characteristic of advertising in this setup is that the probability that the user will respond to an...
With recent advancements in complex image analysis algorithms and global optimization techniques, the qualitative performance of Multiple Object Tracking (MOT) has improved significantly, at the cost of slow processing speed. With a focus on high-speed performance, in this paper, we propose a fast data association technique for tracking multiple objects by using Tracking-by-Detection paradigm. Followed...
Robot Swarm is widely used in many applications such as forest fire detection, Search and rescue missions. Swarm of Robots is supposed to move together without collision and avoid obstacles while performing its target task. Therefore, the formation control of robot swarm is required to achieve the swarm robot target. In this paper, we present an adaptive formation control algorithm for robot swarm...
Fingerprinting has become the most popular approach for infrastructure-free indoor positioning systems. But fingerprinting relies on frequent and exhaustive building surveys to build and maintain a radio map of the indoor environment. A concept being developed recently is the crowdsourced indoor positioning system, where users of an indoor area will collectively contribute sensor data collected by...
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