Pub Date : 2023-06-26DOI: 10.1109/MED59994.2023.10185805
Dimitrios Kouzapas, Nearchos Stylianidis, C. Panayiotou, Demetrios G. Eliades
Modern factories collect and process a large volume of different types of industrial process data. These data are used to develop metrics and Key Performance Indicators to monitor and improve productivity and the efficiency of a factory. Improving the efficiency of an industrial process, however, This work develops an ontology-based framework that semantically describes an industrial process, and in particular it describes the elements of physical connectivity, industrial behaviour, and KPIs. Using a notion of sub-process hierarchy, a Decision Support System explores and suggests options for reconfiguring the elements of the industrial process, to improve efficiency. A proof-of-concept use-case from the KIOS Water System Testbed is presented. The pumping station (connectivity, behaviour and energy efficiency KPIs) of the Testbed is semantically modelled, whereas the DSS suggests reconfiguration options for improving its overall energy efficiency.
{"title":"Ontology-based reasoning to reconFigure industrial processes for energy efficiency","authors":"Dimitrios Kouzapas, Nearchos Stylianidis, C. Panayiotou, Demetrios G. Eliades","doi":"10.1109/MED59994.2023.10185805","DOIUrl":"https://doi.org/10.1109/MED59994.2023.10185805","url":null,"abstract":"Modern factories collect and process a large volume of different types of industrial process data. These data are used to develop metrics and Key Performance Indicators to monitor and improve productivity and the efficiency of a factory. Improving the efficiency of an industrial process, however, This work develops an ontology-based framework that semantically describes an industrial process, and in particular it describes the elements of physical connectivity, industrial behaviour, and KPIs. Using a notion of sub-process hierarchy, a Decision Support System explores and suggests options for reconfiguring the elements of the industrial process, to improve efficiency. A proof-of-concept use-case from the KIOS Water System Testbed is presented. The pumping station (connectivity, behaviour and energy efficiency KPIs) of the Testbed is semantically modelled, whereas the DSS suggests reconfiguration options for improving its overall energy efficiency.","PeriodicalId":270226,"journal":{"name":"2023 31st Mediterranean Conference on Control and Automation (MED)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121326861","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 : 2023-06-26DOI: 10.1109/MED59994.2023.10185755
D. Krokavec, A. Filasová
The linear matrix inequality approach is proposed to state control design of discrete-time linear positive systems, guaranteeing the closed-loop system positiveness, enabling attenuation of the impact of disturbances on the system and, if it is necessary, also giving possibility to mount limiting quadratic constraints on state variables into design conditions. Constructing the set of linear matrix inequalities warranting the strictly positive structure and the Lyapunov inequality forcing quadratic stability of the controlled system, the design conditions outlined and proven are the main results of the paper. The diagonal stabilizability had to be included into the set of linear matrix inequalities to construct the closed-loop schemes with a positive control law gain. The proposed approach is numerically illustrated.
{"title":"Design Constraints in the Synthesis of Control of Positive Linear Discrete-time Systems","authors":"D. Krokavec, A. Filasová","doi":"10.1109/MED59994.2023.10185755","DOIUrl":"https://doi.org/10.1109/MED59994.2023.10185755","url":null,"abstract":"The linear matrix inequality approach is proposed to state control design of discrete-time linear positive systems, guaranteeing the closed-loop system positiveness, enabling attenuation of the impact of disturbances on the system and, if it is necessary, also giving possibility to mount limiting quadratic constraints on state variables into design conditions. Constructing the set of linear matrix inequalities warranting the strictly positive structure and the Lyapunov inequality forcing quadratic stability of the controlled system, the design conditions outlined and proven are the main results of the paper. The diagonal stabilizability had to be included into the set of linear matrix inequalities to construct the closed-loop schemes with a positive control law gain. The proposed approach is numerically illustrated.","PeriodicalId":270226,"journal":{"name":"2023 31st Mediterranean Conference on Control and Automation (MED)","volume":"112 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114063923","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 : 2023-06-26DOI: 10.1109/MED59994.2023.10185747
M. Bjerkeng, E. Grøtli, T. Kirkhus, J. Thielemann, H. B. Amundsen, Biao Su, S. J. Ohrem
This paper proposes a low-cost solution for localizing a remotely operated vehicle (ROV) inside a fish net pen. The solution consists of a kinematic Kalman Filter capable of estimating the absolute ROV position and orientation in a fish net pen using primarily the onboard compass, laser-camera triangulation, and a model of the cylindrical net pen. The solution is demonstrated in a real fish net pen, under realistic operating conditions, and the performance is comparable to that of specialized positioning sensor systems such as ultra short baseline systems and Doppler velocity loggers.
{"title":"Absolute localization of an ROV in a Fish Pen using Laser Triangulation","authors":"M. Bjerkeng, E. Grøtli, T. Kirkhus, J. Thielemann, H. B. Amundsen, Biao Su, S. J. Ohrem","doi":"10.1109/MED59994.2023.10185747","DOIUrl":"https://doi.org/10.1109/MED59994.2023.10185747","url":null,"abstract":"This paper proposes a low-cost solution for localizing a remotely operated vehicle (ROV) inside a fish net pen. The solution consists of a kinematic Kalman Filter capable of estimating the absolute ROV position and orientation in a fish net pen using primarily the onboard compass, laser-camera triangulation, and a model of the cylindrical net pen. The solution is demonstrated in a real fish net pen, under realistic operating conditions, and the performance is comparable to that of specialized positioning sensor systems such as ultra short baseline systems and Doppler velocity loggers.","PeriodicalId":270226,"journal":{"name":"2023 31st Mediterranean Conference on Control and Automation (MED)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131477793","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 : 2023-06-26DOI: 10.1109/MED59994.2023.10185772
Nikos Piperigkos, A. Lalos, Christos Anagnostopoulos, S. Z. Zukhraf, C. Laoudias, M. Michael
The new era of Industry 4.0 and its key-enabling Internet of Things technologies promises fundamental advances during data collection, processing and analysis from a variety of agents and sensors, for the collective benefit of society. In this regard, connected and autonomous vehicles equipped with integrated perception sensors and communication abilities formulate a cluster or swarm of intelligent nodes capable to transform the transportation sector into a new smart mobility system. However, its feasible operation may be potentially threatened by hijackers whose goal is to cause malfunctioning to critical vehicular sensors, harnessing the perception system of vehicle. Therefore, in this paper we discuss the impact of cyberattacks such as GPS spoofing on autonomous vehicles, and design efficient detection and mitigation centralized schemes which provide location awareness and security monitoring over the whole cluster of vehicles. More specifically, we exploit the cooperation among the interacting vehicles, and develop robust sparse coding solutions based on graph signal processing and Alternating Direction Method of Multipliers. Cooperative based approach is further benefited by a in-vehicle module which provides spoofing detection alerts at the level of individual vehicle. Experimental analysis using the renowned CARLA simulator indicates highly efficient mitigation performance for different rates of compromised vehicles, as well as spoofing detection metrics greater than 94%.
{"title":"Robust Cooperative Sparse Representation Solutions for Detecting and Mitigating Spoofing Attacks in Autonomous Vehicles","authors":"Nikos Piperigkos, A. Lalos, Christos Anagnostopoulos, S. Z. Zukhraf, C. Laoudias, M. Michael","doi":"10.1109/MED59994.2023.10185772","DOIUrl":"https://doi.org/10.1109/MED59994.2023.10185772","url":null,"abstract":"The new era of Industry 4.0 and its key-enabling Internet of Things technologies promises fundamental advances during data collection, processing and analysis from a variety of agents and sensors, for the collective benefit of society. In this regard, connected and autonomous vehicles equipped with integrated perception sensors and communication abilities formulate a cluster or swarm of intelligent nodes capable to transform the transportation sector into a new smart mobility system. However, its feasible operation may be potentially threatened by hijackers whose goal is to cause malfunctioning to critical vehicular sensors, harnessing the perception system of vehicle. Therefore, in this paper we discuss the impact of cyberattacks such as GPS spoofing on autonomous vehicles, and design efficient detection and mitigation centralized schemes which provide location awareness and security monitoring over the whole cluster of vehicles. More specifically, we exploit the cooperation among the interacting vehicles, and develop robust sparse coding solutions based on graph signal processing and Alternating Direction Method of Multipliers. Cooperative based approach is further benefited by a in-vehicle module which provides spoofing detection alerts at the level of individual vehicle. Experimental analysis using the renowned CARLA simulator indicates highly efficient mitigation performance for different rates of compromised vehicles, as well as spoofing detection metrics greater than 94%.","PeriodicalId":270226,"journal":{"name":"2023 31st Mediterranean Conference on Control and Automation (MED)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133493537","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}
To overcome input saturation and loss of thrust effectiveness problems for multiple fixed-wing unmanned aerial vehicles (UAVs), a fault-tolerant cooperative control (FTCC) based on adaptive backstepping sliding mode control (BSMC) method is developed. An auxiliary dynamic system is constructed to solve the input saturation problem. Furthermore, adaptive laws are proposed to estimate the thrust effectiveness and lumped unknown term. Stability of the system and finite-time convergence of the error signals are proved by Lyapunov analysis. Finally, the effectiveness of the proposed control scheme is verified by the simulations.
{"title":"Adaptive Backstepping Sliding Mode Based Fault-Tolerant Cooperative Control for Multiple UAVs under Thrust Loss Faults and Input Saturation","authors":"Zhong Yang, Ziquan Yu, Yuehua Cheng, Guili Xu, You-min Zhang","doi":"10.1109/MED59994.2023.10185848","DOIUrl":"https://doi.org/10.1109/MED59994.2023.10185848","url":null,"abstract":"To overcome input saturation and loss of thrust effectiveness problems for multiple fixed-wing unmanned aerial vehicles (UAVs), a fault-tolerant cooperative control (FTCC) based on adaptive backstepping sliding mode control (BSMC) method is developed. An auxiliary dynamic system is constructed to solve the input saturation problem. Furthermore, adaptive laws are proposed to estimate the thrust effectiveness and lumped unknown term. Stability of the system and finite-time convergence of the error signals are proved by Lyapunov analysis. Finally, the effectiveness of the proposed control scheme is verified by the simulations.","PeriodicalId":270226,"journal":{"name":"2023 31st Mediterranean Conference on Control and Automation (MED)","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132250865","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 : 2023-06-26DOI: 10.1109/MED59994.2023.10185768
Savvas Papaioannou, C. Laoudias, P. Kolios, T. Theocharides, C. Panayiotou
This work considers the problem of passively monitoring multiple moving targets with a single unmanned aerial vehicle (UAV) agent equipped with a direction-finding radar. This is in general a challenging problem due to the unobservability of the target states, and the highly non-linear measurement process. In addition to these challenges, in this work we also consider: a) environments with multiple obstacles where the targets need to be tracked as they manoeuvre through the obstacles, and b) multiple false-alarm measurements caused by the cluttered environment. To address these challenges we first design a model predictive guidance controller which is used to plan hypothetical target trajectories over a rolling finite planning horizon. We then formulate a joint estimation and control problem where the trajectory of the UAV agent is optimized to achieve optimal multi-target monitoring.
{"title":"Joint Estimation and Control for Multi-Target Passive Monitoring with an Autonomous UAV Agent","authors":"Savvas Papaioannou, C. Laoudias, P. Kolios, T. Theocharides, C. Panayiotou","doi":"10.1109/MED59994.2023.10185768","DOIUrl":"https://doi.org/10.1109/MED59994.2023.10185768","url":null,"abstract":"This work considers the problem of passively monitoring multiple moving targets with a single unmanned aerial vehicle (UAV) agent equipped with a direction-finding radar. This is in general a challenging problem due to the unobservability of the target states, and the highly non-linear measurement process. In addition to these challenges, in this work we also consider: a) environments with multiple obstacles where the targets need to be tracked as they manoeuvre through the obstacles, and b) multiple false-alarm measurements caused by the cluttered environment. To address these challenges we first design a model predictive guidance controller which is used to plan hypothetical target trajectories over a rolling finite planning horizon. We then formulate a joint estimation and control problem where the trajectory of the UAV agent is optimized to achieve optimal multi-target monitoring.","PeriodicalId":270226,"journal":{"name":"2023 31st Mediterranean Conference on Control and Automation (MED)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134260804","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 : 2023-06-26DOI: 10.1109/MED59994.2023.10185835
Shahab Heshmati-alamdari, G. Karras, M. Sharifi, G. Fourlas
This paper presents a novel control strategy for image-based visual servoing (IBVS) of underwater vehicle manipulator systems (UVMS) using control barrier functions (CBFs) to handle field of view (FoV) constraints and system’s operational limitations such as manipulator joint limits and vehicle velocity performances. The proposed approach combines the advantages of IBVS, which provides visual feedback for control, with CBFs, which can formally enforce visibility and safety constraints on the UVMS’s motion. A CBF-based control law is derived and integrated with the IBVS algorithm, which guarantees the satisfaction of FoV and system’s operational constraints and ensure stability of the closed-loop system. To deal with FoV constraints, the proposed method uses a FoV index to estimate the degree of visibility of the scene, which is used to adjust the control inputs accordingly. The effectiveness of the proposed strategy is demonstrated through realistic simulation results, showing improved performance and safety of the UVMS under FoV and operational constraints compared to traditional IBVS methods. The results indicate that the proposed approach can handle the challenging underwater environment, UVMS dynamics and the operational constraints effectively, making it a valuable control strategy for practical applications of UVMS.
{"title":"Control Barrier Function Based Visual Servoing for Underwater Vehicle Manipulator Systems under Operational Constraints","authors":"Shahab Heshmati-alamdari, G. Karras, M. Sharifi, G. Fourlas","doi":"10.1109/MED59994.2023.10185835","DOIUrl":"https://doi.org/10.1109/MED59994.2023.10185835","url":null,"abstract":"This paper presents a novel control strategy for image-based visual servoing (IBVS) of underwater vehicle manipulator systems (UVMS) using control barrier functions (CBFs) to handle field of view (FoV) constraints and system’s operational limitations such as manipulator joint limits and vehicle velocity performances. The proposed approach combines the advantages of IBVS, which provides visual feedback for control, with CBFs, which can formally enforce visibility and safety constraints on the UVMS’s motion. A CBF-based control law is derived and integrated with the IBVS algorithm, which guarantees the satisfaction of FoV and system’s operational constraints and ensure stability of the closed-loop system. To deal with FoV constraints, the proposed method uses a FoV index to estimate the degree of visibility of the scene, which is used to adjust the control inputs accordingly. The effectiveness of the proposed strategy is demonstrated through realistic simulation results, showing improved performance and safety of the UVMS under FoV and operational constraints compared to traditional IBVS methods. The results indicate that the proposed approach can handle the challenging underwater environment, UVMS dynamics and the operational constraints effectively, making it a valuable control strategy for practical applications of UVMS.","PeriodicalId":270226,"journal":{"name":"2023 31st Mediterranean Conference on Control and Automation (MED)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115326945","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 : 2023-06-26DOI: 10.1109/MED59994.2023.10185815
A. Baciu, C. Lazar
Data-driven control (DDC) algorithms have been developed in the last decades, whose design is based only on the data collected from the controlled plant, without using a process model. These techniques that do not use an explicit model of the system have become very attractive for the control of complex processes with high nonlinearities. This paper presents two DDC algorithms, one model-free adaptive control (MFAC), and the other model-free intelligent P(iP), whose performances are experimentally evaluated using the AERO 2 platform, a highly nonlinear aerospace system made by Quanser. The similarities and differences between the two DDC are succinctly presented and based on the results obtained through real-time experiments, the performances are compared.
{"title":"Experimental Comparison of Two Data-Driven Algorithms for Pitch Control of an Aerospace System","authors":"A. Baciu, C. Lazar","doi":"10.1109/MED59994.2023.10185815","DOIUrl":"https://doi.org/10.1109/MED59994.2023.10185815","url":null,"abstract":"Data-driven control (DDC) algorithms have been developed in the last decades, whose design is based only on the data collected from the controlled plant, without using a process model. These techniques that do not use an explicit model of the system have become very attractive for the control of complex processes with high nonlinearities. This paper presents two DDC algorithms, one model-free adaptive control (MFAC), and the other model-free intelligent P(iP), whose performances are experimentally evaluated using the AERO 2 platform, a highly nonlinear aerospace system made by Quanser. The similarities and differences between the two DDC are succinctly presented and based on the results obtained through real-time experiments, the performances are compared.","PeriodicalId":270226,"journal":{"name":"2023 31st Mediterranean Conference on Control and Automation (MED)","volume":"191 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114738217","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 : 2023-06-26DOI: 10.1109/MED59994.2023.10185911
V. Erofeeva, S. Parsegov, Pavel Osinenko, S. Kamal
Data reconciliation is an essential tool in data processing in various industries. It helps to improve accuracy of decision-making algorithms by reducing the influence of random errors in measurements. In this paper, we consider large-scale data reconciliation problems in which multiple areas communicate over a network to obtain an optimal solution of the centralized problem. Our proposed approach accounts for the boundaries between different areas avoiding a mismatch and sub-optimality as well as reduces computational and communication complexities. The proposed distributed data reconciliation method is compared to a centralized reference in different scenarios.
{"title":"Distributed State Estimation for Multi-Area Data Reconciliation","authors":"V. Erofeeva, S. Parsegov, Pavel Osinenko, S. Kamal","doi":"10.1109/MED59994.2023.10185911","DOIUrl":"https://doi.org/10.1109/MED59994.2023.10185911","url":null,"abstract":"Data reconciliation is an essential tool in data processing in various industries. It helps to improve accuracy of decision-making algorithms by reducing the influence of random errors in measurements. In this paper, we consider large-scale data reconciliation problems in which multiple areas communicate over a network to obtain an optimal solution of the centralized problem. Our proposed approach accounts for the boundaries between different areas avoiding a mismatch and sub-optimality as well as reduces computational and communication complexities. The proposed distributed data reconciliation method is compared to a centralized reference in different scenarios.","PeriodicalId":270226,"journal":{"name":"2023 31st Mediterranean Conference on Control and Automation (MED)","volume":"41 1-2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116726666","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 : 2023-06-26DOI: 10.1109/MED59994.2023.10185732
Walter Brescia, Giuseppe Roberto, Vito Andrea Racanelli, S. Mascolo, L. D. Cicco
The perception of the environment is essential in mobile robotics applications as it enables the proper planning and execution of efficient navigation strategies. Optical sensors offer many advantages, ranging from precision to understandability, but they can be significantly impacted by lighting conditions and the composition of the surroundings. In contrast, millimeter wave (mmWave) radar sensors are not influenced by such adverse condition and are capable of detecting partially or fully obstructed obstacles, resulting in more informative point clouds. However, such point clouds are often sparse and noisy. This work presents Point2Depth, a cross-modal contrastive learning approach based on Conditional Generative Adversarial Networks (cGANs) to transform sparse point clouds from mmWave sensors into depth images, preserving the distance information while producing a more comprehensible representation. An extensive data collection phase was conducted to create a rich multimodal dataset with each information associated with a timestamp and a pose. The experimental results demonstrate that the approach is able to produce accurate depth images, even in challenging environmental conditions.
{"title":"Point2Depth: a GAN-based Contrastive Learning Approach for mmWave Point Clouds to Depth Images Transformation","authors":"Walter Brescia, Giuseppe Roberto, Vito Andrea Racanelli, S. Mascolo, L. D. Cicco","doi":"10.1109/MED59994.2023.10185732","DOIUrl":"https://doi.org/10.1109/MED59994.2023.10185732","url":null,"abstract":"The perception of the environment is essential in mobile robotics applications as it enables the proper planning and execution of efficient navigation strategies. Optical sensors offer many advantages, ranging from precision to understandability, but they can be significantly impacted by lighting conditions and the composition of the surroundings. In contrast, millimeter wave (mmWave) radar sensors are not influenced by such adverse condition and are capable of detecting partially or fully obstructed obstacles, resulting in more informative point clouds. However, such point clouds are often sparse and noisy. This work presents Point2Depth, a cross-modal contrastive learning approach based on Conditional Generative Adversarial Networks (cGANs) to transform sparse point clouds from mmWave sensors into depth images, preserving the distance information while producing a more comprehensible representation. An extensive data collection phase was conducted to create a rich multimodal dataset with each information associated with a timestamp and a pose. The experimental results demonstrate that the approach is able to produce accurate depth images, even in challenging environmental conditions.","PeriodicalId":270226,"journal":{"name":"2023 31st Mediterranean Conference on Control and Automation (MED)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125235923","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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