Pub Date : 2022-11-21DOI: 10.1109/ICCAIS56082.2022.9990268
T. Bui, T. Bui, Tuyen Nguyen, Anh Nguyen, Liem Nguyen, Huan Luong
In Vietnam nowadays, smart grids have been built and operated recently in some regions when they enable detecting, reacting and pro-acting to changes in usage and multiple issues of the electricity system, and they may have self-healing capabilities. Therefore, study the correctness of the system design of a smart grid has to be carried out carefully before a grid being implement, especially in developing countries like Vietnam.In this research, we proposed a new approach to represent smart grids using Colored Petri Net (CPN). Our approach allows engineers to configure the net dynamically to verify the capacities of the net. The proposed approach also allows engineers to re-configure the system easily to adapt to any change in the grid without re-modelling the system from the grid topology. Additionally, when the state spaces of the nets constructed by the new approach are smaller than that of the conventional modelling approach, the verification for smart grid properties can overcome its ’inherently intractable’ drawback.
{"title":"Formal Modelling of Smart Grids: Configurability vs. Conventionality","authors":"T. Bui, T. Bui, Tuyen Nguyen, Anh Nguyen, Liem Nguyen, Huan Luong","doi":"10.1109/ICCAIS56082.2022.9990268","DOIUrl":"https://doi.org/10.1109/ICCAIS56082.2022.9990268","url":null,"abstract":"In Vietnam nowadays, smart grids have been built and operated recently in some regions when they enable detecting, reacting and pro-acting to changes in usage and multiple issues of the electricity system, and they may have self-healing capabilities. Therefore, study the correctness of the system design of a smart grid has to be carried out carefully before a grid being implement, especially in developing countries like Vietnam.In this research, we proposed a new approach to represent smart grids using Colored Petri Net (CPN). Our approach allows engineers to configure the net dynamically to verify the capacities of the net. The proposed approach also allows engineers to re-configure the system easily to adapt to any change in the grid without re-modelling the system from the grid topology. Additionally, when the state spaces of the nets constructed by the new approach are smaller than that of the conventional modelling approach, the verification for smart grid properties can overcome its ’inherently intractable’ drawback.","PeriodicalId":273404,"journal":{"name":"2022 11th International Conference on Control, Automation and Information Sciences (ICCAIS)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125862810","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 : 2022-11-21DOI: 10.1109/ICCAIS56082.2022.9990504
Nhung Nguyen Hong, H. N. Duc, Cuong Dao Manh, Giang Le Hoang Huong
The rapid increase of renewable energy resources such as wind and solar power leads to the development of microgrids, especially stand-alone microgrids that supply remote demand. However, operating these grids still faces many challenges due to wind speed and solar radiation uncertainties. Energy storage systems and demand response programs can be treated as effective solutions to ensure power balancing and reduce the system's operating cost. This paper proposes a stochastic optimization model to determine the optimal scheduling of a microgrid. The uncertainties in wind and solar power are taken into account in this model. The proposed model is implemented on a test system, and the impact of the energy storage system and demand response on the microgrid's scheduling is analyzed. Results indicate that the proposed model can be meaningful in real-world conditions.
{"title":"Optimal Planning of a Microgrid Considering Demand Response and Energy Storage System","authors":"Nhung Nguyen Hong, H. N. Duc, Cuong Dao Manh, Giang Le Hoang Huong","doi":"10.1109/ICCAIS56082.2022.9990504","DOIUrl":"https://doi.org/10.1109/ICCAIS56082.2022.9990504","url":null,"abstract":"The rapid increase of renewable energy resources such as wind and solar power leads to the development of microgrids, especially stand-alone microgrids that supply remote demand. However, operating these grids still faces many challenges due to wind speed and solar radiation uncertainties. Energy storage systems and demand response programs can be treated as effective solutions to ensure power balancing and reduce the system's operating cost. This paper proposes a stochastic optimization model to determine the optimal scheduling of a microgrid. The uncertainties in wind and solar power are taken into account in this model. The proposed model is implemented on a test system, and the impact of the energy storage system and demand response on the microgrid's scheduling is analyzed. Results indicate that the proposed model can be meaningful in real-world conditions.","PeriodicalId":273404,"journal":{"name":"2022 11th International Conference on Control, Automation and Information Sciences (ICCAIS)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128108243","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 : 2022-11-21DOI: 10.1109/ICCAIS56082.2022.9990429
Chuan Zhu, Jie Deng, Xingyue Long, Wei Zhang, Wei Yi
The multi-frame track-before-detect (MF-TBD) method has excellent detection performance for weak targets. However, the statistical characteristics of the merit function after accumulation of multiple consecutive frames are complex, and the setting of the constant false alarm threshold is difficult, especially when the background statistical characteristics are unknown and nonhomogeneous. This paper considers the robust target detection method for MF-TBD. The weak target detection in the merit function domain plane is modeled as binary classification of pixels on the plane. Due to the motivation of classifying pixel points, the U-Net network is selected. Then we improve U-Net into a novel DBU-Net network structure, and train DBU-Net through different merit function domain sample sets. The DBU- Net can effectively detect target in the merit function domain, although the background statistics are unknown and nonhomogeneous. The simulation results demonstrate the superiority and robustness of the detection performance of the method.
{"title":"DBU-Net Based Robust Target Detection for Multi-Frame Track-Before-Detect Method","authors":"Chuan Zhu, Jie Deng, Xingyue Long, Wei Zhang, Wei Yi","doi":"10.1109/ICCAIS56082.2022.9990429","DOIUrl":"https://doi.org/10.1109/ICCAIS56082.2022.9990429","url":null,"abstract":"The multi-frame track-before-detect (MF-TBD) method has excellent detection performance for weak targets. However, the statistical characteristics of the merit function after accumulation of multiple consecutive frames are complex, and the setting of the constant false alarm threshold is difficult, especially when the background statistical characteristics are unknown and nonhomogeneous. This paper considers the robust target detection method for MF-TBD. The weak target detection in the merit function domain plane is modeled as binary classification of pixels on the plane. Due to the motivation of classifying pixel points, the U-Net network is selected. Then we improve U-Net into a novel DBU-Net network structure, and train DBU-Net through different merit function domain sample sets. The DBU- Net can effectively detect target in the merit function domain, although the background statistics are unknown and nonhomogeneous. The simulation results demonstrate the superiority and robustness of the detection performance of the method.","PeriodicalId":273404,"journal":{"name":"2022 11th International Conference on Control, Automation and Information Sciences (ICCAIS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128491871","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}
This paper presents a multi-UAV coverage strategy using a V-shaped formation with requirements to maximize the sweep coverage rate and minimize flight time. The leader-follower model-based strategy combines a V-shaped formation control at which behavior-based control is used to allow the UAVs to follow virtual points on a virtual V-shaped structure created by the leader UAV, and an optimal coverage path planner to provide a single path in back-and-forth pattern for the formation. We have evaluated our proposed approach in simulations and achieved high performance in both two the stated metrics.
{"title":"Multi-UAV Coverage Strategy with V-shaped Formation for Patrol and Surveillance","authors":"Hung Pham Quang, Truong Nguyen Dam, Vu Nguyen Hoang, Hung Pham Duy","doi":"10.1109/ICCAIS56082.2022.9990236","DOIUrl":"https://doi.org/10.1109/ICCAIS56082.2022.9990236","url":null,"abstract":"This paper presents a multi-UAV coverage strategy using a V-shaped formation with requirements to maximize the sweep coverage rate and minimize flight time. The leader-follower model-based strategy combines a V-shaped formation control at which behavior-based control is used to allow the UAVs to follow virtual points on a virtual V-shaped structure created by the leader UAV, and an optimal coverage path planner to provide a single path in back-and-forth pattern for the formation. We have evaluated our proposed approach in simulations and achieved high performance in both two the stated metrics.","PeriodicalId":273404,"journal":{"name":"2022 11th International Conference on Control, Automation and Information Sciences (ICCAIS)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134183907","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 : 2022-11-21DOI: 10.1109/ICCAIS56082.2022.9990358
Nguyen Hai Phong, Dang Xuan Ba
In this paper, we develop a new predictive controller for tracking control problems of robotic manipulators. Internal dynamics of the robotic model are first modeled using proper neural networks under support of an output feedback control signal. A new model predictive control signal is next derived to realize the control objective in a robust manner. Novel adaptation laws are then proposed to activate the network learning in an effective way. Effectiveness of the proposed controller has been validated throughout intensive simulation results on two degree of freedom robot.
{"title":"A Robust Neural Predictive Control Approach for Robotic Manipulators with Online Learning Ability","authors":"Nguyen Hai Phong, Dang Xuan Ba","doi":"10.1109/ICCAIS56082.2022.9990358","DOIUrl":"https://doi.org/10.1109/ICCAIS56082.2022.9990358","url":null,"abstract":"In this paper, we develop a new predictive controller for tracking control problems of robotic manipulators. Internal dynamics of the robotic model are first modeled using proper neural networks under support of an output feedback control signal. A new model predictive control signal is next derived to realize the control objective in a robust manner. Novel adaptation laws are then proposed to activate the network learning in an effective way. Effectiveness of the proposed controller has been validated throughout intensive simulation results on two degree of freedom robot.","PeriodicalId":273404,"journal":{"name":"2022 11th International Conference on Control, Automation and Information Sciences (ICCAIS)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134235083","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 : 2022-11-21DOI: 10.1109/ICCAIS56082.2022.9990100
Khanh-Linh Dang, Bảo-Huy Nguyễn, M. C. Ta, J. Trovão, Thanh Vo-Duy
Induction motors (IMs) are among the most prevalent electrical motors in industry because of their simple structure and low cost. One of the challenges in operating this type of motor by the field oriented control (FOC) method is calculating its continually varying properties such as flux, resistance, and inductance. Despite significant advances in science and technology, there is currently no equipment that can directly measure them, making it difficult to apply traditional model-based control methods. The purpose of this study is to manipulate a sliding mode observer (SMO) for rotor flux. Based on the estimated value, a model free sliding mode controller (MFSMC) is utilized to perform the flux control strategies under different working conditions of the motor. The proposed approach of the IM drive system is modelled using Energetic Macroscopic Representation (EMR) and validated by simulation in Matlab/Simulink®.
{"title":"Sliding Mode Solution for Rotor Flux Control and Estimation of Induction Motors Using Energetic Macroscopic Representation","authors":"Khanh-Linh Dang, Bảo-Huy Nguyễn, M. C. Ta, J. Trovão, Thanh Vo-Duy","doi":"10.1109/ICCAIS56082.2022.9990100","DOIUrl":"https://doi.org/10.1109/ICCAIS56082.2022.9990100","url":null,"abstract":"Induction motors (IMs) are among the most prevalent electrical motors in industry because of their simple structure and low cost. One of the challenges in operating this type of motor by the field oriented control (FOC) method is calculating its continually varying properties such as flux, resistance, and inductance. Despite significant advances in science and technology, there is currently no equipment that can directly measure them, making it difficult to apply traditional model-based control methods. The purpose of this study is to manipulate a sliding mode observer (SMO) for rotor flux. Based on the estimated value, a model free sliding mode controller (MFSMC) is utilized to perform the flux control strategies under different working conditions of the motor. The proposed approach of the IM drive system is modelled using Energetic Macroscopic Representation (EMR) and validated by simulation in Matlab/Simulink®.","PeriodicalId":273404,"journal":{"name":"2022 11th International Conference on Control, Automation and Information Sciences (ICCAIS)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122220977","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 : 2022-11-21DOI: 10.1109/ICCAIS56082.2022.9990185
P. Quan, Dang Xuan Ba, Cong-Doan Truong, Nguyen Phong Luu, Vuong Quang Huy, Nguyen Tu Duc
Unmanned aerial vehicles (UAVs, drones) have become one of the key machines/tools of the modern world in which they are widely employed to effectively enhance working performances in many fields of daily social life and manufacturing such as delivery, protecting wildlife, agricultural activities, academy, searching, rescue missions and military applications. To accomplish the given mission, the systems are required precise controllers with strong ability of adaptation and robustness. In this article, we present an adaptive robust nonlinear controller for position tracking control problems of a quadcopter system. The controller is structured with two control loops. In the inner loop, the attitude of the system is adjusted following desired signals using a proper combination of sliding-mode-backstepping control framework under nonlinear disturbance observers. The position control mission is realized by another nonlinear altitude control method. A new gain-learning mechanism is then proposed to improve both transient and steady-state control performances. Stability of the closed-loop system under time-varying disturbances is governed by Lyapunov theories. Effectiveness and feasibility of the proposed control approach were verified by comparative simulations.
{"title":"An Adaptive Robust Nonlinear Control Approach of a Quadcopter with Disturbance Observer","authors":"P. Quan, Dang Xuan Ba, Cong-Doan Truong, Nguyen Phong Luu, Vuong Quang Huy, Nguyen Tu Duc","doi":"10.1109/ICCAIS56082.2022.9990185","DOIUrl":"https://doi.org/10.1109/ICCAIS56082.2022.9990185","url":null,"abstract":"Unmanned aerial vehicles (UAVs, drones) have become one of the key machines/tools of the modern world in which they are widely employed to effectively enhance working performances in many fields of daily social life and manufacturing such as delivery, protecting wildlife, agricultural activities, academy, searching, rescue missions and military applications. To accomplish the given mission, the systems are required precise controllers with strong ability of adaptation and robustness. In this article, we present an adaptive robust nonlinear controller for position tracking control problems of a quadcopter system. The controller is structured with two control loops. In the inner loop, the attitude of the system is adjusted following desired signals using a proper combination of sliding-mode-backstepping control framework under nonlinear disturbance observers. The position control mission is realized by another nonlinear altitude control method. A new gain-learning mechanism is then proposed to improve both transient and steady-state control performances. Stability of the closed-loop system under time-varying disturbances is governed by Lyapunov theories. Effectiveness and feasibility of the proposed control approach were verified by comparative simulations.","PeriodicalId":273404,"journal":{"name":"2022 11th International Conference on Control, Automation and Information Sciences (ICCAIS)","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116244596","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 : 2022-11-21DOI: 10.1109/ICCAIS56082.2022.9990364
Aidan Blair, Amirali Khodadadian Gostar, Ruwan Tennakoon, A. Bab-Hadiashar, Xiaodong Li, Jennifer Palmer, R. Hoseinnezhad
This paper proposes a new sensor control algorithm for multi-target tracking applications within distributed sensor networks. In multi-target tracking applications, most sensor control algorithms are designed for centralized sensor networks, where there is a central processing node that is computationally inefficient. This paper first provides a conceptual and mathematical overview of the multi-sensor multi-target tracking framework, using random finite set (RFS) filters and sensor fusion. We will also provide an overview of the existing sensor control methods. We then explore coordinate descent-based sensor control and introduce a fully distributed algorithm utilizing coordinate descent and an information-theoretic objective function. This method is tested on synthetic data and compared to alternative methods. The results show that the proposed method outperforms equivalent independent multi-sensor control methods.
{"title":"Distributed Multi-Sensor Control for Multi-Target Tracking","authors":"Aidan Blair, Amirali Khodadadian Gostar, Ruwan Tennakoon, A. Bab-Hadiashar, Xiaodong Li, Jennifer Palmer, R. Hoseinnezhad","doi":"10.1109/ICCAIS56082.2022.9990364","DOIUrl":"https://doi.org/10.1109/ICCAIS56082.2022.9990364","url":null,"abstract":"This paper proposes a new sensor control algorithm for multi-target tracking applications within distributed sensor networks. In multi-target tracking applications, most sensor control algorithms are designed for centralized sensor networks, where there is a central processing node that is computationally inefficient. This paper first provides a conceptual and mathematical overview of the multi-sensor multi-target tracking framework, using random finite set (RFS) filters and sensor fusion. We will also provide an overview of the existing sensor control methods. We then explore coordinate descent-based sensor control and introduce a fully distributed algorithm utilizing coordinate descent and an information-theoretic objective function. This method is tested on synthetic data and compared to alternative methods. The results show that the proposed method outperforms equivalent independent multi-sensor control methods.","PeriodicalId":273404,"journal":{"name":"2022 11th International Conference on Control, Automation and Information Sciences (ICCAIS)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123792455","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 : 2022-11-21DOI: 10.1109/ICCAIS56082.2022.9990481
Ngoc-Tan Nguyen, Hongwen Yu, H. Tuan, Diep N. Nguyen, E. Dutkiewicz
In this paper, we study a secure communications network in which a multiple-antenna access point (AP) with the assistance of a reconfigurable intelligent surface (RIS) serves multiple single-antenna legitimate users (UEs) with the presence of an eavesdropper (EV). Specifically, the RIS, which can tune/control/alter the phase shift of reflected signals (onto it), is deployed to prevent potential information leaked (to the EV). To secure the downlinks from the AP to the UEs via the RIS, we consider the joint design of linear transmit beamformers at the AP and programmable reflecting coefficients of the RIS to maximize the geometric mean (GM) of all users’ secrecy rates. Then, an efficient algorithm, called RIS-aided secure beamforming (RaSB) algorithm, which invokes a closed-form expression at each iteration, is proposed to solve this non-convex problem. Numerical results reveal that the performance of the proposed RaSB algorithm outperforms the one without phase optimization. Simulations are also performed to investigate the impact of the EV’s position on the GM of secrecy rates.
{"title":"Maximization of Geometric Mean of Secrecy Rates in RIS-aided Communications Networks","authors":"Ngoc-Tan Nguyen, Hongwen Yu, H. Tuan, Diep N. Nguyen, E. Dutkiewicz","doi":"10.1109/ICCAIS56082.2022.9990481","DOIUrl":"https://doi.org/10.1109/ICCAIS56082.2022.9990481","url":null,"abstract":"In this paper, we study a secure communications network in which a multiple-antenna access point (AP) with the assistance of a reconfigurable intelligent surface (RIS) serves multiple single-antenna legitimate users (UEs) with the presence of an eavesdropper (EV). Specifically, the RIS, which can tune/control/alter the phase shift of reflected signals (onto it), is deployed to prevent potential information leaked (to the EV). To secure the downlinks from the AP to the UEs via the RIS, we consider the joint design of linear transmit beamformers at the AP and programmable reflecting coefficients of the RIS to maximize the geometric mean (GM) of all users’ secrecy rates. Then, an efficient algorithm, called RIS-aided secure beamforming (RaSB) algorithm, which invokes a closed-form expression at each iteration, is proposed to solve this non-convex problem. Numerical results reveal that the performance of the proposed RaSB algorithm outperforms the one without phase optimization. Simulations are also performed to investigate the impact of the EV’s position on the GM of secrecy rates.","PeriodicalId":273404,"journal":{"name":"2022 11th International Conference on Control, Automation and Information Sciences (ICCAIS)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127536410","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 : 2022-11-21DOI: 10.1109/ICCAIS56082.2022.9990114
Pablo Barrios, Vicente Guzman, M. Adams
In 3D reconstruction and robotics, point cloud registration is a critical component of many tasks including the estimation of sensor motion. The Iterated Closest Point (ICP) algorithm and its variants were initially used to solve such problems. However ICP based methods often fail to converge to the correct solution in the presence of detection as well as spatial errors. This is because ICP methods typically use an L2 metric as part of their optimization criteria, which is unable to penalize cardinality errors. This article therefore presents a registration technique based on the multi-object Cardinalized Optimal Linear Assignment (COLA) metric, which penalizes both detection and spatial errors. This allows robust scan registration to take place in the presence of both unknown inter-scan translation and orientation as well as point cloud detection errors. The resulting Particle Swarm Optimization (PSO)-COLA registration algorithm is shown to outperform state of the art local and global point cloud registration algorithms in the presence of data outliers and spatial uncertainty.
{"title":"PSO-COLA: A Robust Solution for Correspondence-Free Point Set Registration","authors":"Pablo Barrios, Vicente Guzman, M. Adams","doi":"10.1109/ICCAIS56082.2022.9990114","DOIUrl":"https://doi.org/10.1109/ICCAIS56082.2022.9990114","url":null,"abstract":"In 3D reconstruction and robotics, point cloud registration is a critical component of many tasks including the estimation of sensor motion. The Iterated Closest Point (ICP) algorithm and its variants were initially used to solve such problems. However ICP based methods often fail to converge to the correct solution in the presence of detection as well as spatial errors. This is because ICP methods typically use an L2 metric as part of their optimization criteria, which is unable to penalize cardinality errors. This article therefore presents a registration technique based on the multi-object Cardinalized Optimal Linear Assignment (COLA) metric, which penalizes both detection and spatial errors. This allows robust scan registration to take place in the presence of both unknown inter-scan translation and orientation as well as point cloud detection errors. The resulting Particle Swarm Optimization (PSO)-COLA registration algorithm is shown to outperform state of the art local and global point cloud registration algorithms in the presence of data outliers and spatial uncertainty.","PeriodicalId":273404,"journal":{"name":"2022 11th International Conference on Control, Automation and Information Sciences (ICCAIS)","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128583515","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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