Pub Date : 2015-11-05DOI: 10.1109/ISIC.2015.7307281
Carsten Stahlschmidt, Alexandros Gavriilidis, A. Kummert
This paper proposes a method to analyse humanmade environments in order to identify ascending steps and stairs and recognize their parameters. The system uses adjustable 3D environment geometries for the detection of steps and estimates tread depth and width, riser height and yaw orientation from the camera to staircase. Those parameters are needed by humanoid robots to ensure a safe traversal of staircases. The camera perceives the scene in front of a mobile vehicle with a system that is originally designed to provide visually impaired and furthermore disabled people with detailed information about potentially hazardous situations. Since most of the affected persons might not want to traverse staircases, this work is mostly suitable to be used for multifloor exploring humanoid robots. Experiments substantiate the ability to provide good parameters, independent from posture to staircases. This even works with relatively large distances to staircases (≥ 2m) and enables an early adaptation of navigation.
{"title":"Posture independent stair parameter estimation","authors":"Carsten Stahlschmidt, Alexandros Gavriilidis, A. Kummert","doi":"10.1109/ISIC.2015.7307281","DOIUrl":"https://doi.org/10.1109/ISIC.2015.7307281","url":null,"abstract":"This paper proposes a method to analyse humanmade environments in order to identify ascending steps and stairs and recognize their parameters. The system uses adjustable 3D environment geometries for the detection of steps and estimates tread depth and width, riser height and yaw orientation from the camera to staircase. Those parameters are needed by humanoid robots to ensure a safe traversal of staircases. The camera perceives the scene in front of a mobile vehicle with a system that is originally designed to provide visually impaired and furthermore disabled people with detailed information about potentially hazardous situations. Since most of the affected persons might not want to traverse staircases, this work is mostly suitable to be used for multifloor exploring humanoid robots. Experiments substantiate the ability to provide good parameters, independent from posture to staircases. This even works with relatively large distances to staircases (≥ 2m) and enables an early adaptation of navigation.","PeriodicalId":130695,"journal":{"name":"2015 IEEE International Symposium on Intelligent Control (ISIC)","volume":"73 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130404961","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-10-29DOI: 10.1109/ISIC.2015.7307290
R. Raha, Soumyajit Dey, P. Dasgupta
Recent control theoretic studies have shown that the sharing of electronic control unit (ECU) bandwidth among multiple controllers can be adaptively regulated to achieve better control performance as opposed to static bandwidth allocation to each controller. Unfortunately the ideal controllers cannot always be implemented, since the computational platform does not admit unrestricted choice of sampling periods for the controllers. Therefore the controllers for each combination of the sampling rates must be pre-synthesized. This paper develops an algorithmic basis for identifying the optimal feasible combination of sampling rates at various modes of a system consisting of multiple controllers. The proposed approach is shown to yield controllers that are feasible and having comparable benefits as compared to the ideal controllers.
{"title":"Adaptive sharing of sampling rates among software based controllers","authors":"R. Raha, Soumyajit Dey, P. Dasgupta","doi":"10.1109/ISIC.2015.7307290","DOIUrl":"https://doi.org/10.1109/ISIC.2015.7307290","url":null,"abstract":"Recent control theoretic studies have shown that the sharing of electronic control unit (ECU) bandwidth among multiple controllers can be adaptively regulated to achieve better control performance as opposed to static bandwidth allocation to each controller. Unfortunately the ideal controllers cannot always be implemented, since the computational platform does not admit unrestricted choice of sampling periods for the controllers. Therefore the controllers for each combination of the sampling rates must be pre-synthesized. This paper develops an algorithmic basis for identifying the optimal feasible combination of sampling rates at various modes of a system consisting of multiple controllers. The proposed approach is shown to yield controllers that are feasible and having comparable benefits as compared to the ideal controllers.","PeriodicalId":130695,"journal":{"name":"2015 IEEE International Symposium on Intelligent Control (ISIC)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122431705","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-10-29DOI: 10.1109/ISIC.2015.7307284
Zhimin Han, Zhiyun Lin, Zhiyong Chen, M. Fu
This paper proposes a switching control strategy for formation maneuvering control of multi-agent systems with guaranteed collision avoidance and connectivity maintenance properties. The control strategy consists of three parts: formation maneuvering, collision avoidance, and connectivity maintenance control. We adopt the idea of using complex Laplacian for formation maneuvering control, which gives rise to one degree of freedom in scaling the size of the achievable formations and thus enables collision avoidance and connectivity maintenance possible in the meantime. Simulation results are provided to demonstrate the effectiveness of the control strategy.
{"title":"Formation maneuvering with collision avoidance and connectivity maintenance","authors":"Zhimin Han, Zhiyun Lin, Zhiyong Chen, M. Fu","doi":"10.1109/ISIC.2015.7307284","DOIUrl":"https://doi.org/10.1109/ISIC.2015.7307284","url":null,"abstract":"This paper proposes a switching control strategy for formation maneuvering control of multi-agent systems with guaranteed collision avoidance and connectivity maintenance properties. The control strategy consists of three parts: formation maneuvering, collision avoidance, and connectivity maintenance control. We adopt the idea of using complex Laplacian for formation maneuvering control, which gives rise to one degree of freedom in scaling the size of the achievable formations and thus enables collision avoidance and connectivity maintenance possible in the meantime. Simulation results are provided to demonstrate the effectiveness of the control strategy.","PeriodicalId":130695,"journal":{"name":"2015 IEEE International Symposium on Intelligent Control (ISIC)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114352911","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-10-29DOI: 10.1109/ISIC.2015.7307278
S. Nageshrao, G. D. Lopes, D. Jeltsema, Robert Babuška
Control by interconnection (CbI) is a dynamic output-feedback approach used to control port-Hamiltonian (PH) systems. Here, both the plant and the controller are modelled in PH form, in terms of their own Hamiltonians. However, obtaining an appropriate controller Hamiltonian is generally difficult. In this paper, we address this issue by using reinforcement learning (RL). Additionally due to the semi-supervised optimization nature of the RL algorithms, a performance criterion can be readily included in CbI. We demonstrate the usefulness of the proposed learning algorithm for stabilization of a manipulator arm.
{"title":"Control by interconnection of a manipulator arm using reinforcement learning","authors":"S. Nageshrao, G. D. Lopes, D. Jeltsema, Robert Babuška","doi":"10.1109/ISIC.2015.7307278","DOIUrl":"https://doi.org/10.1109/ISIC.2015.7307278","url":null,"abstract":"Control by interconnection (CbI) is a dynamic output-feedback approach used to control port-Hamiltonian (PH) systems. Here, both the plant and the controller are modelled in PH form, in terms of their own Hamiltonians. However, obtaining an appropriate controller Hamiltonian is generally difficult. In this paper, we address this issue by using reinforcement learning (RL). Additionally due to the semi-supervised optimization nature of the RL algorithms, a performance criterion can be readily included in CbI. We demonstrate the usefulness of the proposed learning algorithm for stabilization of a manipulator arm.","PeriodicalId":130695,"journal":{"name":"2015 IEEE International Symposium on Intelligent Control (ISIC)","volume":"173 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124235585","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-10-29DOI: 10.1109/ISIC.2015.7307287
Y. Miyasato
Design methods of adaptive H∞ consensus control of multi-agent systems composed of the first-order and the second-order regression models with input nonlinearities such as dead-zone or backlash, are presented in this paper. The proposed control schemes are derived as solutions of certain H∞ control problems, where estimation errors of tuning parameters and imperfect knowledge of the leader are regarded as external disturbances to the processes.
{"title":"Adaptive H∞1 consensus control of multi-agent systems preceded by input nonlinearities","authors":"Y. Miyasato","doi":"10.1109/ISIC.2015.7307287","DOIUrl":"https://doi.org/10.1109/ISIC.2015.7307287","url":null,"abstract":"Design methods of adaptive H∞ consensus control of multi-agent systems composed of the first-order and the second-order regression models with input nonlinearities such as dead-zone or backlash, are presented in this paper. The proposed control schemes are derived as solutions of certain H∞ control problems, where estimation errors of tuning parameters and imperfect knowledge of the leader are regarded as external disturbances to the processes.","PeriodicalId":130695,"journal":{"name":"2015 IEEE International Symposium on Intelligent Control (ISIC)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114737628","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-10-29DOI: 10.1109/ISIC.2015.7307298
Zhiguang Feng, W. Zheng
This paper is concerned with analyzing stability of Takagi-Sugeno (T-S) fuzzy systems with timevarying delay. A Lyapunov functional with triple integral terms is constructed. The Wirtinger-based integral inequality in conjunction with the improved reciprocally convex combination technique is applied to obtain some sufficient conditions that ensure asymptotic stability of TS fuzzy time-varying delayed systems. It is demonstrated that the new stability condition is less conservative than the existing results for such fuzzy systems. The theoretical findings are substantiated with a numerical example.
{"title":"New results on stability of fuzzy time-varying delayed systems","authors":"Zhiguang Feng, W. Zheng","doi":"10.1109/ISIC.2015.7307298","DOIUrl":"https://doi.org/10.1109/ISIC.2015.7307298","url":null,"abstract":"This paper is concerned with analyzing stability of Takagi-Sugeno (T-S) fuzzy systems with timevarying delay. A Lyapunov functional with triple integral terms is constructed. The Wirtinger-based integral inequality in conjunction with the improved reciprocally convex combination technique is applied to obtain some sufficient conditions that ensure asymptotic stability of TS fuzzy time-varying delayed systems. It is demonstrated that the new stability condition is less conservative than the existing results for such fuzzy systems. The theoretical findings are substantiated with a numerical example.","PeriodicalId":130695,"journal":{"name":"2015 IEEE International Symposium on Intelligent Control (ISIC)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122331573","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-10-29DOI: 10.1109/ISIC.2015.7307294
Myoung-Chul Park, H. Ahn
In this paper, we propose a relative-position estimation method using range measurements. The estimation method is used for mobile agents to obtain the estimates of relative position vectors to their neighbors. Using the estimates, the agents can implement displacement-based control to achieve the desired formation shape. To demonstrate our results, we provide simulation results and experimental results with twowheeled mobile robots.
{"title":"Displacement estimation by range measurements and application to formation control","authors":"Myoung-Chul Park, H. Ahn","doi":"10.1109/ISIC.2015.7307294","DOIUrl":"https://doi.org/10.1109/ISIC.2015.7307294","url":null,"abstract":"In this paper, we propose a relative-position estimation method using range measurements. The estimation method is used for mobile agents to obtain the estimates of relative position vectors to their neighbors. Using the estimates, the agents can implement displacement-based control to achieve the desired formation shape. To demonstrate our results, we provide simulation results and experimental results with twowheeled mobile robots.","PeriodicalId":130695,"journal":{"name":"2015 IEEE International Symposium on Intelligent Control (ISIC)","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113990345","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-10-29DOI: 10.1109/ISIC.2015.7307286
Zhouhua Peng, Dan Wang, Wei Wang, Lu Liu, Liang Diao
This paper considers the distributed formation tracking of networked marine surface vehicles with model uncertainty and time-varying ocean disturbances induced by wind, waves and ocean currents. The objective is to achieve a collective tracking with a time-varying trajectory, which can only be accessed by a fraction of follower vehicles. Distributed adaptive formation controllers are developed based on a predictor, neural networks, a tracking differentiator, and a dynamic surface control design technique. Instead of the first-order filter commonly used in traditional dynamic surface control design approach, a second-order tracking differentiator is employed to produce a fast and precise estimate of the virtual control signal prescribed by the kinematic control law. The prediction errors, rather than tracking errors, are used to update the neural adaptive laws, which enable fast identifying the vehicle dynamics without incurring high-frequency oscillations in control signals. The stability properties of the closed-loop network are established via Lyapunov analysis. Simulation results are provided to demonstrate the performance improvement of the proposed method.
{"title":"A predictor-based neural modified DSC approach to distributed formation tracking of networked marine surface vehicles","authors":"Zhouhua Peng, Dan Wang, Wei Wang, Lu Liu, Liang Diao","doi":"10.1109/ISIC.2015.7307286","DOIUrl":"https://doi.org/10.1109/ISIC.2015.7307286","url":null,"abstract":"This paper considers the distributed formation tracking of networked marine surface vehicles with model uncertainty and time-varying ocean disturbances induced by wind, waves and ocean currents. The objective is to achieve a collective tracking with a time-varying trajectory, which can only be accessed by a fraction of follower vehicles. Distributed adaptive formation controllers are developed based on a predictor, neural networks, a tracking differentiator, and a dynamic surface control design technique. Instead of the first-order filter commonly used in traditional dynamic surface control design approach, a second-order tracking differentiator is employed to produce a fast and precise estimate of the virtual control signal prescribed by the kinematic control law. The prediction errors, rather than tracking errors, are used to update the neural adaptive laws, which enable fast identifying the vehicle dynamics without incurring high-frequency oscillations in control signals. The stability properties of the closed-loop network are established via Lyapunov analysis. Simulation results are provided to demonstrate the performance improvement of the proposed method.","PeriodicalId":130695,"journal":{"name":"2015 IEEE International Symposium on Intelligent Control (ISIC)","volume":"95 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131511540","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-10-29DOI: 10.1109/ISIC.2015.7307291
N. Vunder, A. Ushakov
The paper presents research made on deflection of trajectories of discrete systems in the norm of state vector of free motion from the monotone development in the case of multiple real positive eigenvalues of state matrices. It was found that the magnitude of deflection of the trajectories from monotone development increases with the approach of multiple eigenvalue to one and increase in its multiplicity. An analytical expression that was obtained in this work allows to estimate the magnitude of deflection. Results are illustrated by examples of computer modeling.
{"title":"On the features of the trajectories of autonomous discrete systems generated by a multiplicity factor of eigenvalues of state matrices","authors":"N. Vunder, A. Ushakov","doi":"10.1109/ISIC.2015.7307291","DOIUrl":"https://doi.org/10.1109/ISIC.2015.7307291","url":null,"abstract":"The paper presents research made on deflection of trajectories of discrete systems in the norm of state vector of free motion from the monotone development in the case of multiple real positive eigenvalues of state matrices. It was found that the magnitude of deflection of the trajectories from monotone development increases with the approach of multiple eigenvalue to one and increase in its multiplicity. An analytical expression that was obtained in this work allows to estimate the magnitude of deflection. Results are illustrated by examples of computer modeling.","PeriodicalId":130695,"journal":{"name":"2015 IEEE International Symposium on Intelligent Control (ISIC)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131965413","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-10-29DOI: 10.1109/ISIC.2015.7307280
K. Alexis, C. Papachristos, R. Siegwart, A. Tzes
This work proposes a new path-planning framework that provides uniform coverage of 3D structures by employing an iterative strategy to improve the inspection path that benefits from remeshing-techniques, while the first full solution is computed very fast. The resulting paths inspect each detail of the structure from a distance that directly depends to the local geometrical complexity of the structure and viewpoints are selected accordingly. For each admissible set of viewpoints, a Traveling Salesman Problem is solved and leads to the inspection route that the algorithm outputs at each iteration. The proposed path-planning algorithm is initially evaluated in extensive simulation studies. Finally, an experimental case study using a Micro Aerial Vehicle and a realistic mockup model of a power transformer is conducted, validating the advantages of the proposed scheme in conducting fine-quality inspection.
{"title":"Uniform coverage structural inspection path–planning for micro aerial vehicles","authors":"K. Alexis, C. Papachristos, R. Siegwart, A. Tzes","doi":"10.1109/ISIC.2015.7307280","DOIUrl":"https://doi.org/10.1109/ISIC.2015.7307280","url":null,"abstract":"This work proposes a new path-planning framework that provides uniform coverage of 3D structures by employing an iterative strategy to improve the inspection path that benefits from remeshing-techniques, while the first full solution is computed very fast. The resulting paths inspect each detail of the structure from a distance that directly depends to the local geometrical complexity of the structure and viewpoints are selected accordingly. For each admissible set of viewpoints, a Traveling Salesman Problem is solved and leads to the inspection route that the algorithm outputs at each iteration. The proposed path-planning algorithm is initially evaluated in extensive simulation studies. Finally, an experimental case study using a Micro Aerial Vehicle and a realistic mockup model of a power transformer is conducted, validating the advantages of the proposed scheme in conducting fine-quality inspection.","PeriodicalId":130695,"journal":{"name":"2015 IEEE International Symposium on Intelligent Control (ISIC)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123911661","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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