Pub Date : 2014-12-01DOI: 10.1109/ICARCV.2014.7064280
I. Arad, S. Arogeti, Rami Ronen
This paper presents a new control law for the problem of coordinated path following. The paper deals with a group of car like vehicles, where each vehicle is represented by the bicycle kinematic model. A nonlinear control law has been designed by the Lyapunov approach. The Lyapunov function includes the position errors of all vehicles with respect to the desired paths, and the coordination errors that describe deviations from the reference geometric formation. The time derivative of the path parameter is utilized as an additional control input that synchronizes between vehicles. The main contribution of this paper stems from the inclusion of the bicycle kinematic model in the development (and not only the unicycle model as in earlier works) that is more complex due to its two nonholonomic constraints. The stability of the coordinated path following controller is proven and its effectiveness is demonstrated using numerical simulations.
{"title":"Coordinated path following control for a group of car-like vehicles","authors":"I. Arad, S. Arogeti, Rami Ronen","doi":"10.1109/ICARCV.2014.7064280","DOIUrl":"https://doi.org/10.1109/ICARCV.2014.7064280","url":null,"abstract":"This paper presents a new control law for the problem of coordinated path following. The paper deals with a group of car like vehicles, where each vehicle is represented by the bicycle kinematic model. A nonlinear control law has been designed by the Lyapunov approach. The Lyapunov function includes the position errors of all vehicles with respect to the desired paths, and the coordination errors that describe deviations from the reference geometric formation. The time derivative of the path parameter is utilized as an additional control input that synchronizes between vehicles. The main contribution of this paper stems from the inclusion of the bicycle kinematic model in the development (and not only the unicycle model as in earlier works) that is more complex due to its two nonholonomic constraints. The stability of the coordinated path following controller is proven and its effectiveness is demonstrated using numerical simulations.","PeriodicalId":441236,"journal":{"name":"2012 12th International Conference on Control Automation Robotics & Vision (ICARCV)","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131639972","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 : 2013-06-19DOI: 10.1109/ICIEA.2013.6566422
M. A. Bendoumi, Mingyi He, Shaohui Mei, Yifan Zhang
In order to enhance the spatial resolution of the hyperspectral images, a novel fast algorithm based on Spectral Mixture Analysis (SMA) techniques is proposed for the fusion of coarse-resolution hyperspectral (HS) image and high-resolution multispectral (MS) image. The high-resolution hyperspectral image is synthesized by integrating high-resolution spectral information of hyperspectral image represented by endmembers and high-resolution spatial information of multispectral image represented by abundance. As a result, a novel SMA based diagram is designed, in which Endmember Extraction (EE) is performed on hyperspectral images while Abundance Estimation is performed on multispectral images, and the unmixing process in these two images are matched by utilizing the spectral response matrix and the spatial spread transform matrix in the observation model. Finally, real HYDICE data experiments are utilized to demonstrate the effectiveness of the proposed fusion algorithm.
为了提高高光谱图像的空间分辨率，提出了一种基于光谱混合分析(SMA)技术的高光谱图像与高分辨率多光谱图像的快速融合算法。以端元为代表的高光谱图像的高分辨率光谱信息与以丰度为代表的多光谱图像的高分辨率空间信息相结合，合成高分辨率高光谱图像。为此，设计了一种新的基于SMA的图，对高光谱图像进行端元提取(end - member Extraction, EE)，对多光谱图像进行丰度估计(Abundance Estimation)，并利用观测模型中的光谱响应矩阵和空间扩展变换矩阵来匹配两幅图像的解混过程。最后，利用HYDICE的实际数据实验验证了融合算法的有效性。
{"title":"Unmixing approach for hyperspectral data resolution enhancement using high resolution multispectral image","authors":"M. A. Bendoumi, Mingyi He, Shaohui Mei, Yifan Zhang","doi":"10.1109/ICIEA.2013.6566422","DOIUrl":"https://doi.org/10.1109/ICIEA.2013.6566422","url":null,"abstract":"In order to enhance the spatial resolution of the hyperspectral images, a novel fast algorithm based on Spectral Mixture Analysis (SMA) techniques is proposed for the fusion of coarse-resolution hyperspectral (HS) image and high-resolution multispectral (MS) image. The high-resolution hyperspectral image is synthesized by integrating high-resolution spectral information of hyperspectral image represented by endmembers and high-resolution spatial information of multispectral image represented by abundance. As a result, a novel SMA based diagram is designed, in which Endmember Extraction (EE) is performed on hyperspectral images while Abundance Estimation is performed on multispectral images, and the unmixing process in these two images are matched by utilizing the spectral response matrix and the spatial spread transform matrix in the observation model. Finally, real HYDICE data experiments are utilized to demonstrate the effectiveness of the proposed fusion algorithm.","PeriodicalId":441236,"journal":{"name":"2012 12th International Conference on Control Automation Robotics & Vision (ICARCV)","volume":"95 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124822953","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 : 2012-12-07DOI: 10.1109/ICARCV.2012.6485377
A. Datas, P. Chiron, J. Fourquet
We are interested in human motion characterization and automatic motion simulation. The apparent redundancy of the humanoid w.r.t its explicit tasks lead to the problem of choosing a plausible movement in the framework of redundant kinematics. This work explores the intrinsic relationships between singular value decomposition at kinematic level and optimization principles at task level and joint level. Two task-based schemes devoted to simulation of human motion are then proposed and analyzed. These results are illustrated by motion captures, analyses and task-based simulations. Pattern of singular values serve as a basis for a discussion concerning the similarity of simulated and real motions.
{"title":"A singular value approach for humanoid motion analysis and simulation","authors":"A. Datas, P. Chiron, J. Fourquet","doi":"10.1109/ICARCV.2012.6485377","DOIUrl":"https://doi.org/10.1109/ICARCV.2012.6485377","url":null,"abstract":"We are interested in human motion characterization and automatic motion simulation. The apparent redundancy of the humanoid w.r.t its explicit tasks lead to the problem of choosing a plausible movement in the framework of redundant kinematics. This work explores the intrinsic relationships between singular value decomposition at kinematic level and optimization principles at task level and joint level. Two task-based schemes devoted to simulation of human motion are then proposed and analyzed. These results are illustrated by motion captures, analyses and task-based simulations. Pattern of singular values serve as a basis for a discussion concerning the similarity of simulated and real motions.","PeriodicalId":441236,"journal":{"name":"2012 12th International Conference on Control Automation Robotics & Vision (ICARCV)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130151665","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 : 2012-12-05DOI: 10.1109/ICARCV.2012.6485233
F. Nashashibi, Paulo Resende, F. Charlot, Carlos Holguin, M. Parent, Laurent Bouraoui
This article tackles the problem of the autonomous navigation and coordination of multiple driverless vehicles for the transport of persons or goods in outdoor environments. The system composed of fully automated road vehicles, capable of providing an effective transportation service, was recently tested at the city of La Rochelle. This same system was further improved, and a new demonstration was performed at Inria Rocquencourt, in order to demonstrate the validity of the concepts for a coordinated navigation in the presence of ambiguous and conflictual situations in a mixed environment. The originality of the approach relies on the use of new cooperative concepts and their combination with advanced perception tasks operating simultaneously on several robots. This system was developed in the context of the European project CityMobil.
{"title":"A cooperative personal automated transport system: A CityMobil demonstration in Rocquencourt","authors":"F. Nashashibi, Paulo Resende, F. Charlot, Carlos Holguin, M. Parent, Laurent Bouraoui","doi":"10.1109/ICARCV.2012.6485233","DOIUrl":"https://doi.org/10.1109/ICARCV.2012.6485233","url":null,"abstract":"This article tackles the problem of the autonomous navigation and coordination of multiple driverless vehicles for the transport of persons or goods in outdoor environments. The system composed of fully automated road vehicles, capable of providing an effective transportation service, was recently tested at the city of La Rochelle. This same system was further improved, and a new demonstration was performed at Inria Rocquencourt, in order to demonstrate the validity of the concepts for a coordinated navigation in the presence of ambiguous and conflictual situations in a mixed environment. The originality of the approach relies on the use of new cooperative concepts and their combination with advanced perception tasks operating simultaneously on several robots. This system was developed in the context of the European project CityMobil.","PeriodicalId":441236,"journal":{"name":"2012 12th International Conference on Control Automation Robotics & Vision (ICARCV)","volume":"6 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114085990","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 : 2012-12-05DOI: 10.1109/ICARCV.2012.6485178
Evangeline Pollard, Denis Gingras
In this paper, a new collaborative localization method is proposed. On the assumption that the distance between two communicative vehicles can be calculated with a good precision, cooperative vehicle are considered as additional satellites into the user position calculation by using iterative methods. In order to limit divergence, some filtering process is proposed: Interacting Multiple Model (IMM) is used to guarantee a greater robustness in the user position estimation.
{"title":"Improved low cost GPS localization by using communicative vehicles","authors":"Evangeline Pollard, Denis Gingras","doi":"10.1109/ICARCV.2012.6485178","DOIUrl":"https://doi.org/10.1109/ICARCV.2012.6485178","url":null,"abstract":"In this paper, a new collaborative localization method is proposed. On the assumption that the distance between two communicative vehicles can be calculated with a good precision, cooperative vehicle are considered as additional satellites into the user position calculation by using iterative methods. In order to limit divergence, some filtering process is proposed: Interacting Multiple Model (IMM) is used to guarantee a greater robustness in the user position estimation.","PeriodicalId":441236,"journal":{"name":"2012 12th International Conference on Control Automation Robotics & Vision (ICARCV)","volume":"218 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114075976","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 : 2012-12-05DOI: 10.1109/ICARCV.2012.6485265
S. Krause, R. Evert
This paper presents an improvement for an automatic extrinsic parameter calculation between a monocular camera and single line laser range finder. The focus of this work is a further reduction of calibration errors compared to other existing methods, and the unique and automatic identification and detection of a calibration object under usage of the remission measurements of the laser scanner data. The use of the remission measurements leads to a reduction of the edge effect, which leads to error measurements at the edges of a measured object, if distance measurements are used exclusively. Further, the usage of the remission measurements enables the unique identification of a new calibration object with a significant remission signature. The result is an automatic extrinsic parameter calculation which works reliably with a high accuracy. The performance of the proposed method was verified in simulation and experiments. In order to classify the results of simulation and experiments, they were compared to other existing methods.
{"title":"Remission based improvement of extrinsic parameter calibration of camera and laser scanner","authors":"S. Krause, R. Evert","doi":"10.1109/ICARCV.2012.6485265","DOIUrl":"https://doi.org/10.1109/ICARCV.2012.6485265","url":null,"abstract":"This paper presents an improvement for an automatic extrinsic parameter calculation between a monocular camera and single line laser range finder. The focus of this work is a further reduction of calibration errors compared to other existing methods, and the unique and automatic identification and detection of a calibration object under usage of the remission measurements of the laser scanner data. The use of the remission measurements leads to a reduction of the edge effect, which leads to error measurements at the edges of a measured object, if distance measurements are used exclusively. Further, the usage of the remission measurements enables the unique identification of a new calibration object with a significant remission signature. The result is an automatic extrinsic parameter calculation which works reliably with a high accuracy. The performance of the proposed method was verified in simulation and experiments. In order to classify the results of simulation and experiments, they were compared to other existing methods.","PeriodicalId":441236,"journal":{"name":"2012 12th International Conference on Control Automation Robotics & Vision (ICARCV)","volume":"137 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131848104","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 : 2012-12-05DOI: 10.1109/ICARCV.2012.6485337
Xiang Li, C. Cheah
In this paper, an observer based adaptive control method is proposed for optical manipulation of cell. The dynamics of the robotic manipulator of the laser source is introduced in the optical tweezers system, so that a closed-loop control method is formulated and solved, and a backstepping approach is used to derive a control input for the manipulator. The interaction between the cell dynamics and the manipulator dynamics leads to a fourth-order overall dynamics, and hence a nonlinear observer is constructed to avoid the use of high-order derivatives of the positions in the control input. Stability of the closed-loop system is analyzed by using Lyapunov-like analysis. Simulation results are presented to illustrate the performance of the proposed control methods.
{"title":"Observer based adaptive control for optical manipulation of cell","authors":"Xiang Li, C. Cheah","doi":"10.1109/ICARCV.2012.6485337","DOIUrl":"https://doi.org/10.1109/ICARCV.2012.6485337","url":null,"abstract":"In this paper, an observer based adaptive control method is proposed for optical manipulation of cell. The dynamics of the robotic manipulator of the laser source is introduced in the optical tweezers system, so that a closed-loop control method is formulated and solved, and a backstepping approach is used to derive a control input for the manipulator. The interaction between the cell dynamics and the manipulator dynamics leads to a fourth-order overall dynamics, and hence a nonlinear observer is constructed to avoid the use of high-order derivatives of the positions in the control input. Stability of the closed-loop system is analyzed by using Lyapunov-like analysis. Simulation results are presented to illustrate the performance of the proposed control methods.","PeriodicalId":441236,"journal":{"name":"2012 12th International Conference on Control Automation Robotics & Vision (ICARCV)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130663245","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 : 2012-12-01DOI: 10.1109/ICARCV.2012.6485425
Y. Lian, Yantao Tian, L. Hu, Cheng Yin
The real-time knowledge of tire-road friction conditions is indispensable for many vehicle control systems, particularly active safety control systems such as adaptive cruise control (ACC), anti-lock braking systems (ABS), electronic stability program (ESP), and acceleration slip regulation (ASR). However, the tire-road friction coefficient is not measured directly. Therefore, several different identification approaches are proposed to obtain the information on the tire-road friction coefficient indirectly. This paper introduces tire force system and the developing status on identification of tire-road friction conditions involving the approach based on sensor equipment and the approach utilize the measurement of the vehicle motion, and some classical identification algorithms used in this field. At last, the existing problems and the future development direction of identification of tire-road friction conditions are pointed out and discussed.
{"title":"Development of identification of tire-road friction conditions","authors":"Y. Lian, Yantao Tian, L. Hu, Cheng Yin","doi":"10.1109/ICARCV.2012.6485425","DOIUrl":"https://doi.org/10.1109/ICARCV.2012.6485425","url":null,"abstract":"The real-time knowledge of tire-road friction conditions is indispensable for many vehicle control systems, particularly active safety control systems such as adaptive cruise control (ACC), anti-lock braking systems (ABS), electronic stability program (ESP), and acceleration slip regulation (ASR). However, the tire-road friction coefficient is not measured directly. Therefore, several different identification approaches are proposed to obtain the information on the tire-road friction coefficient indirectly. This paper introduces tire force system and the developing status on identification of tire-road friction conditions involving the approach based on sensor equipment and the approach utilize the measurement of the vehicle motion, and some classical identification algorithms used in this field. At last, the existing problems and the future development direction of identification of tire-road friction conditions are pointed out and discussed.","PeriodicalId":441236,"journal":{"name":"2012 12th International Conference on Control Automation Robotics & Vision (ICARCV)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127458131","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 : 2012-12-01DOI: 10.1109/ICARCV.2012.6485421
F. Albu
In this paper an improved variable forgetting factor recursive least square (IVFF-RLS) algorithm is proposed. The forgetting factor is adjusted according to the square of a time-averaging estimate of the autocorrelation of a priori and a posteriori errors. The proposed algorithm has fast convergence, and robustness against variable background noise, near-end signal variations and echo path change. The simulation results indicate the superior performances of IVFF-RLS when compared to the RLS and VFF-RLS algorithms.
{"title":"Improved variable forgetting factor recursive least square algorithm","authors":"F. Albu","doi":"10.1109/ICARCV.2012.6485421","DOIUrl":"https://doi.org/10.1109/ICARCV.2012.6485421","url":null,"abstract":"In this paper an improved variable forgetting factor recursive least square (IVFF-RLS) algorithm is proposed. The forgetting factor is adjusted according to the square of a time-averaging estimate of the autocorrelation of a priori and a posteriori errors. The proposed algorithm has fast convergence, and robustness against variable background noise, near-end signal variations and echo path change. The simulation results indicate the superior performances of IVFF-RLS when compared to the RLS and VFF-RLS algorithms.","PeriodicalId":441236,"journal":{"name":"2012 12th International Conference on Control Automation Robotics & Vision (ICARCV)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124913931","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 : 2012-12-01DOI: 10.1109/ICARCV.2012.6485275
G. Wen, Z. Duan, Zhongkui Li, Guanrong Chen
This paper addresses the distributed consensus tracking problem for a class of multi-agent systems with Lipschitz-type node dynamics in the presence of a single leader. The main contribution in the present work is to solve the consensus tracking problem without the over-idealized assumption that the communication topology among dynamic agents is strongly connected and fixed. A distributed protocol based only on the relative states between neighboring agents is designed. Then, by using tools from nonnegative matrix analysis and switching systems theory, it is theoretically shown that consensus tracking in a closed-loop multi-agent network with a switching directed topology can be achieved if there always exists a directed path from the leader to each follower, with the control parameters suitably selected.
{"title":"Consensus tracking of nonlinear multi-agent systems with switching directed topologies","authors":"G. Wen, Z. Duan, Zhongkui Li, Guanrong Chen","doi":"10.1109/ICARCV.2012.6485275","DOIUrl":"https://doi.org/10.1109/ICARCV.2012.6485275","url":null,"abstract":"This paper addresses the distributed consensus tracking problem for a class of multi-agent systems with Lipschitz-type node dynamics in the presence of a single leader. The main contribution in the present work is to solve the consensus tracking problem without the over-idealized assumption that the communication topology among dynamic agents is strongly connected and fixed. A distributed protocol based only on the relative states between neighboring agents is designed. Then, by using tools from nonnegative matrix analysis and switching systems theory, it is theoretically shown that consensus tracking in a closed-loop multi-agent network with a switching directed topology can be achieved if there always exists a directed path from the leader to each follower, with the control parameters suitably selected.","PeriodicalId":441236,"journal":{"name":"2012 12th International Conference on Control Automation Robotics & Vision (ICARCV)","volume":"137 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125062781","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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