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In mobile communications, the wireless channel has been widely considered to be time-variant. To statistically model the time-variant channels, a power weighted dynamic multi-path components (MPCs) tracking algorithm is proposed in this paper, which is based on multiple-target tracking. The problem of seeking potential position is considered as a maximum a posteriori (MAP) estimation in a Markov random...
In this paper we consider the data caching problem in next generation data services in the cloud, which is characterized by using monetary cost and access trajectory information to control cache replacements, instead of exploiting capacityoriented strategies as in traditional research. In particular, given a stream of requests to a shared data item with respect to a homogeneous cost model, we first...
The trajectory optimization with dynamic headway for high-speed trains plays an important role in railway operations with the increasing passenger flow. Safety, punctuality, energy saving and comfort are some of the most crucial objectives that are considered in train tracking process in this paper. Primarily, the multi-objective optimization model of tracking train trajectory planning is built under...
In this paper, we investigate identification methods for dynamic parameters of robot manipulator. The focused method is based on heuristic particle swarm optimization algorithm (PSO) with some extended features. The estimated parameters by PSO are used to predict required joint torques for high accuracy tracking control. The effectiveness of some PSO methods for tracking control problem are verified...
The recent development on micro aerial vehicles (MAV), especially the unmanned quadrotor proposes increased requirements on reference generation. This paper proposed a dynamically feasible, state constrained and smooth trajectory generation method using B-spline. The reference can be shown to satisfy the dynamics of the quadrotor and accurate tracking performance is guaranteed. The algorithm can be...
For parameter dependent nonlinear system, once the parameter reaches a critical point, the equivalent relationship of the system trajectory will be destroyed and further lead to structural instability of the whole system. This is the dynamic bifurcation phenomenon and is also the fundamental cause of instability oscillations and dynamic failures for most practical systems. In this research, Hopf bifurcation,...
This paper deals with the scenario of two multi-UAV systems (so-called teams), each flying from a starting point to a target point. The teams meet on their ways and have to avoid collisions in the horizontal plane. Both teams work independent of each other but use the same formation-control and obstacle-collision-avoidance algorithm. The leaders measure obstacles' positions, use a Kalman Filter to...
This paper introduces a cable-driven robot for upper-limb rehabilitation. Kinematic and dynamic of this rehabilitation robot is analyzed. A sliding mode controller combined with a nonlinear disturbance observer is proposed to control this robot in the presence of disturbances. Simulation is carried out to prove the effectiveness of the proposed control scheme, and the results of the proposed controller...
5G-based Vehicular Social Network (VSN) fiercely calls for an advanced requirement of vehicle's location and trajectory privacy preserving scheme. Since the VSN owns the characteristics of high mobility and multiple hops relay, we first construct an architecture of 5G-based VSN with the Mobile Femtocell (MFemtocell). Then we propose the Dynamic Group Division algorithm (DGD), which is suitable for...
Augmented feedback has been shown to improve interaction in virtual environments and to facilitate motor learning. Recent studies proposed this type of feedback to guide users, to highlight specific areas or to help them to perform a specific task. They can follow a path, pass through specific waypoints or even mimic an avatar. However these approaches do not show the gap between learners' performance...
The paper introduces a new, original approach for the application in robotics and automation. The application concerns a path planning module of an intelligent control system. The marine environment was chosen as an exemplary application area, but the method can also be applied for mobile robots. The presented approach calculates a safe, optimal path for a ship in a dynamic environment, where static...
This paper presents a systematic control synthesis method in order to achieve auto-transition for KH-Lion, a tail-sitter hybrid UAV. Although there are huge potentials in various applications of the hybrid tail-sitter UAVs, the transition between vertical take-off and landing mode and cruise mode is still a challenge now. Due to the complex behaviour that the transition can generate, it is very difficult...
Hybrid system is an important mathematical model for Cyber-Physical System, many physical process always modeled by differential equations. The safety verification of those systems become an urgent problem. In this paper we proposed a heuristical method to determine the system defined by nonlinear differential equation is whether safe or not, we consider the Van der Pol equation as a case study to...
This paper deals with the trajectory tracking problem of a quadcopter system through a two-layer optimization-based control strategy. The top layer controller employs the MPC (Model Predictive Control) method making use of the linearized translation dynamics in order to achieve the thrust and the sets of the reference angles. The lower control layer considers a combination of feedback linearization...
We address the challenge to allow efficient autonomous flight in real world environments, both indoor and outdoor. We use a straight-line SE-SCP to find an initial route through the environment and minimum snap trajectory generation using piecewise polynomials. Then, we implement an adaptive robust control able to address some robustness issues for quadrotors in outdoor flight, such as mass variation...
Recent advances in the field of environment perception and cognition enable automated vehicles to safely drive in a growing variety of complex situations. However, in situations where required information cannot be observed directly and thus the consequences of the vehicle's actions cannot be estimated with high certainty, generating a safe behavior is still an unsolved problem. This paper tackles...
The recent advances in Unmanned Aerial Vehicles (UAVs) technology permit to develop new usages for them. One of the current challenges is to operate UAVs as an autonomous swarm. In this domain we already proposed a new mobility model using Ant Colony Algorithms combined with chaotic dynamics (CACOC) to enhance the coverage of an area by a swarm of UAVs. In this paper we propose to consider this mobility...
In this paper we propose a trajectory planning approach for autonomous vehicles on structured road maps. Therefore we are using the well-known A∗ optimal path planning algorithm. We generate a safe optimal trajectory through a three-dimensional graph, considering the two-dimensional position and time. (1) The graph is generated dynamically with fixed time differences and flexible distances between...
In this paper, non-linear estimators and feed-forward actions are designed to solve a vehicular platoon control problem. In particular, these estimators are useful in implementation of a Multi-Layer Consensus Seeking approach to the platooning problem. In the Multi-Layer approach the feed-forward part is built separately from the feedback part, based on desired trajectories. This opens the way to...
Path planning of an autonomous vehicle as a non-holonomic system is an essential part for many automated driving applications. Parking a car into a parking lot and maneuvering it through a narrow corridor would be a common driving scenarios in an urban environment. In this study a hybrid approach for dynamic path planning is presented which deals with the limited degrees of freedom of a non-holonomic...
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