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In this paper, we propose a work flow for processing and analysing large-scale tracking data with spatio-temporal marks that uses an infrastructure for machine learning methods based on a meta-data representation of point patterns. The tracking log (IP address) of cyber security devices usually maps to geolocation and timestamp, such data is called spatiotemporal data. Existing spatio-temporal analysis...
Due to the sparse distribution of road video surveillance cameras, precise trajectory tracking for hit-and-run vehicles remains a challenging task. Previous research on vehicle trajectory recovery mostly focuses on recovering trajectory with low-sampling-rate GPS coordinates by retrieving road traffic flow patterns from collected GPS information. However, to the best of our knowledge, none of them...
This paper presents an approach to trajectory tracking control for autonomous vehicles subject to parametric uncertainties. Such uncertainties may have the potential to significantly decrease the performance of the system, even to the point of destabilizing it. Therefore, these parametric variations must be taken into account during the design of the controller. To solve the trajectory tracking problem...
In the past years Unmanned Aerial Vehicles (UAVs) have received considerable attention from the scientific community. The trajectory control is a fundamental block that a flight control system must properly address. However, a recent approach based on fractional calculus has shed a new light into this area, allowing the well tested PID controller to be improved even further. One advantage is that...
This paper presents an external hybrid force/pose controller for a robotic manipulator using a cascade scheme with two control loops. In the outer loop there is a force controller that acts as a perturbation for the position reference, whose purpose is to regulate the force applied by the end-effector during the interaction; the inner loop, which is used to control the end-effector pose (i.e., position...
ORB-SLAM2 is one of the better-known open source SLAM implementations available. However, the dependence of visual features causes it to fail in featureless environments. With the present work, we propose a new technique to improve visual odometry results given by ORB-SLAM2 using a tightly Sensor Fusion approach to integrate camera and odometer data. In this work, we use odometer readings to improve...
Lane estimation plays a central role for Driver Assistance Systems, therefore many approaches have been proposed to measure its performance. However, no commonly agreed metric exists. In this work, we first present a detailed survey of the current measures. Most of them apply pixel-level benchmarks on camera images and require a time-consuming and fault-prone labeling process. Moreover, these metrics...
This paper focuses on target motion analysis by fusion of information from two moving acoustic sensors. These two sensors may obtain small measurements in order to make quick analysis of moving targets. In this situation, conventional approaches often fail to find accurate motion of targets. In this paper, a fusion algorithm for target motion analysis designed to handle this situation is proposed...
Most of the available robot programming by demonstration (PbD) approaches focus on learning a single task, in a given environmental situation. In this paper, we propose to learn multiple tasks together, within a common environment, using one of the available PbD approaches. Task-parameterized Gaussian mixture model (TP-GMM) is used at the core of the proposed approach. A database of TP-GMMs will be...
The focus of the computing industry continues to shift towards designing and building intelligent systems that can handle and learn from large amounts of data. The availability of powerful processing hardware like GPUs and TPUs, has powered the tremendous success of many sophisticated resource intensive machine learning algorithms. However as device scaling and energy dissipation fast approach the...
The thickness of the boundary layer of the discrete-time Tracking-Differentiator is variable, so that the control characteristic line is asymmetric. In general, the nonlinear boundary transform is used to get the control synthesis function. However, it contains square root operations, and the compute is more complex. This study is conducted to put forward a new algorithm to simplify partition boundary...
Background: Cloud based integrated development environments (IDEs) are rapidly gaining popularity for its native support and potential to accelerate DevOps. However, there is little research of how developers behave when interacting with these environments. Aims: To develop empirical knowledge about how developers behave when interacting with cloud based IDEs to deal with programming tasks at various...
Currently, research on a jumping robot has been actively conducted in the Robotics field. In this paper, we propose a linkage structure of the jumping robot leg. The trajectory and take-off angle are simulated by using a free software, LINKAGE program. Also, we introduced the two types of the propulsion structure.
Data or measurement-to-track association is an integral and expensive part of any solution performing multi-target multi-sensor Cooperative Localization (CL) for better state estimation. Various performance evaluations have been performed between various state-of-the-art solutions, but they have been often limited within same family of algorithms. However, there exist solutions which avoid the task...
Contrast patterns are itemsets that frequently occur in one dataset while not in another. These patterns have been successfully applied to many data mining domains, such as prediction, classification and clustering. However, none of the previous studies has considered extracting contrast patterns from different types of datasets. In this paper, we introduce a new type of contrast pattern, Conditional...
In order to navigate a robotic base in an unfamiliar environment, some mechanisms to detect positioning and location must be provided. When the base is in the process of navigation and makes use of these mechanisms, errors originating from the environment and base are inserted into the system, resulting in an erroneous position estimation. One relevant approach to reduce the error amplitude is to...
This work presents a new concept of environment mapping aiming to identify dynamic objects in the scene, and then estimate their direction and future position. The motion analysis is performed directly in the traditional 2D costmap through three different map frames. Costmap is a traditional mapping technique that uses an occupation grid is used, where each cell has a degree of uncertainty about whether...
This work aims to propose and compare trajectory tracking controllers for mobile robots. At first the mathematical requirements to propose a feasible strategy for a unicyclelike robot are presented, as well as the necessary condition to guarantee the stability in the sense of Lyapunov. In the sequence, the controllers are tuned in simulation and then validated in real experiments. The performance...
The paper presents a new methodology to solve the actuation and modelling problems of a soft-bodied swallowing robot (SR), developed for human swallow evaluation. To solve the actuation problem, a central pattern generator (CPG) based novel actuation scheme is developed and implemented to generate peristalsis in the robot. Machine learning based technique is used to determine the governing dynamics...
This paper presents an approach to the formation control problem for autonomous non-holonomic mobile robots using a Non-linear Model Predictive Formation Control (NMPFC) algorithm that employs a leader-follower scheme. An explanation of the the NMPFC problem is given, after which the results of both simulations and experiments with a three robot formation employing the developed algorithm are discussed...
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