Pub Date : 2012-12-01DOI: 10.1109/ICARCV.2012.6485441
Kazuhiro Kosuge
Mechanical parking systems, such as elevator/tower parking systems, convey parking systems, shuttle parking systems, etc., are very popular in Japan especially inside of a crowded city. These systems are used to park automobiles efficiently for department stores, hotels, etc., although users are required to maneuver their cars skillfully and locate their cars at a specified narrow place. iCART (Intelligent Cooperative Autonomous Robot Transporters) is a robot system which maneuvers a car in a narrow space instead of its driver. Coordination of multiple mobile robots for handling a vehicle is a challenging task for multiple mobile robots. The slippage between a mobile base and the ground is inevitable and its odometry could not be used for the coordination of the multiple robots having physical interaction. The estimation error of robot pose caused by the slippage could damage the automobile carried by the system. A new coordinated motion control scheme has been designed inspired by a “caster” mechanism and implemented in the robots to overcome the problem. Through the development of iCART, we will discuss issues relating to robotics as systems integration.
{"title":"iCART: Intelligent Cooperative Autonomous Robot Transporters","authors":"Kazuhiro Kosuge","doi":"10.1109/ICARCV.2012.6485441","DOIUrl":"https://doi.org/10.1109/ICARCV.2012.6485441","url":null,"abstract":"Mechanical parking systems, such as elevator/tower parking systems, convey parking systems, shuttle parking systems, etc., are very popular in Japan especially inside of a crowded city. These systems are used to park automobiles efficiently for department stores, hotels, etc., although users are required to maneuver their cars skillfully and locate their cars at a specified narrow place. iCART (Intelligent Cooperative Autonomous Robot Transporters) is a robot system which maneuvers a car in a narrow space instead of its driver. Coordination of multiple mobile robots for handling a vehicle is a challenging task for multiple mobile robots. The slippage between a mobile base and the ground is inevitable and its odometry could not be used for the coordination of the multiple robots having physical interaction. The estimation error of robot pose caused by the slippage could damage the automobile carried by the system. A new coordinated motion control scheme has been designed inspired by a “caster” mechanism and implemented in the robots to overcome the problem. Through the development of iCART, we will discuss issues relating to robotics as systems integration.","PeriodicalId":441236,"journal":{"name":"2012 12th International Conference on Control Automation Robotics & Vision (ICARCV)","volume":"214 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":"132112590","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.2012.6485403
D. Cheng, Yin Zhao
A class of control systems, which are emerged from dynamic games, are considered. Using semi-tensor product of matrices, the set of strategies can be described as a set of matrices. Then the dynamics of such systems can be converted from logical type dynamics into standard discrete-time dynamic systems. Hence, the classical techniques for control systems are applicable to such systems. Semi-tensor product formulation of such systems is investigated. Some related optimal control problems are also investigated.
{"title":"Game-based control systems: A semi-tensor product formulation","authors":"D. Cheng, Yin Zhao","doi":"10.1109/ICARCV.2012.6485403","DOIUrl":"https://doi.org/10.1109/ICARCV.2012.6485403","url":null,"abstract":"A class of control systems, which are emerged from dynamic games, are considered. Using semi-tensor product of matrices, the set of strategies can be described as a set of matrices. Then the dynamics of such systems can be converted from logical type dynamics into standard discrete-time dynamic systems. Hence, the classical techniques for control systems are applicable to such systems. Semi-tensor product formulation of such systems is investigated. Some related optimal control problems are also investigated.","PeriodicalId":441236,"journal":{"name":"2012 12th International Conference on Control Automation Robotics & Vision (ICARCV)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134130246","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.2012.6485230
Jun Xu, Lihua Xie, Nitish Khanna, Wei Hong Chee
A multi-purpose 3D simulator named HNMSim (hybrid networked multi-agent system (MAS) simulator) with application in cooperative control is presented in this paper. Based on USARSim (Unified system for automation and robot simulation) [37], Unreal Engine [33], LabView [17], Matlab [20] and OMNet++ [22], this simulator creates a high-fidelity simulation environment for networked MAS. To provide assistant in research and education, we present three interfaces based on LabView, Matlab and OMNet++, respectively. The system structure (hardware-in-the-loop simulation) and design methodology are also briefly described. In addition, the network simulation is highlighted. Furthermore, we show its wide applications in networked MAS by demonstrating its usage in distributed formation control, distributed coverage control and search problem using multiple UAVs/UGVs.
{"title":"Cooperative control in HNMSim — A 3D hybrid networked MAS simulator","authors":"Jun Xu, Lihua Xie, Nitish Khanna, Wei Hong Chee","doi":"10.1109/ICARCV.2012.6485230","DOIUrl":"https://doi.org/10.1109/ICARCV.2012.6485230","url":null,"abstract":"A multi-purpose 3D simulator named HNMSim (hybrid networked multi-agent system (MAS) simulator) with application in cooperative control is presented in this paper. Based on USARSim (Unified system for automation and robot simulation) [37], Unreal Engine [33], LabView [17], Matlab [20] and OMNet++ [22], this simulator creates a high-fidelity simulation environment for networked MAS. To provide assistant in research and education, we present three interfaces based on LabView, Matlab and OMNet++, respectively. The system structure (hardware-in-the-loop simulation) and design methodology are also briefly described. In addition, the network simulation is highlighted. Furthermore, we show its wide applications in networked MAS by demonstrating its usage in distributed formation control, distributed coverage control and search problem using multiple UAVs/UGVs.","PeriodicalId":441236,"journal":{"name":"2012 12th International Conference on Control Automation Robotics & Vision (ICARCV)","volume":"63 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":"132063055","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.2012.6485400
Jianbin Qiu, G. Feng
This paper studies the problem of robust H∞ output feedback control for a class of continuous-time Takagi-Sugeno (T-S) fuzzy affine dynamic systems with parametric uncertainties and input constraints. Based on a smooth piecewise quadratic Lyapunov function combined with S-procedure and some matrix inequality convexification techniques, some new results are developed for static output feedback H∞ controller synthesis of the underlying continuous-time T-S fuzzy affine systems. It is shown that the controller gains can be obtained by solving a set of linear matrix inequalities. Finally, a simulation example is provided to illustrate the application of the proposed methods.
{"title":"Control of continuous-time T-S fuzzy affine dynamic systems via piecewise Lyapunov functions","authors":"Jianbin Qiu, G. Feng","doi":"10.1109/ICARCV.2012.6485400","DOIUrl":"https://doi.org/10.1109/ICARCV.2012.6485400","url":null,"abstract":"This paper studies the problem of robust H∞ output feedback control for a class of continuous-time Takagi-Sugeno (T-S) fuzzy affine dynamic systems with parametric uncertainties and input constraints. Based on a smooth piecewise quadratic Lyapunov function combined with S-procedure and some matrix inequality convexification techniques, some new results are developed for static output feedback H∞ controller synthesis of the underlying continuous-time T-S fuzzy affine systems. It is shown that the controller gains can be obtained by solving a set of linear matrix inequalities. Finally, a simulation example is provided to illustrate the application of the proposed methods.","PeriodicalId":441236,"journal":{"name":"2012 12th International Conference on Control Automation Robotics & Vision (ICARCV)","volume":"6 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":"131906847","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.2012.6485182
T. T. Hoang, P. M. Duong, N. T. T. Van, D. A. Viet, T. Q. Vinh
This paper presents the implementation of a perceptual system for a mobile robot. The system is designed and installed with modern sensors and multi-point communication channels. The goal is to equip the robot with a high level of perception to support a wide range of navigating applications including Internet-based telecontrol, semi-autonomy, and autonomy. Due to uncertainties of acquiring data, a sensor fusion model is developed, in which heterogeneous measured data including odometry, compass heading and laser range is combined to get an optimal estimate in a statistical sense. The combination is carried out by an extended Kalman filter. Experimental results indicate that based on the system, the robot localization is enhanced and sufficient for navigation tasks.
{"title":"Development of an EKF-based localization algorithm using compass sensor and LRF","authors":"T. T. Hoang, P. M. Duong, N. T. T. Van, D. A. Viet, T. Q. Vinh","doi":"10.1109/ICARCV.2012.6485182","DOIUrl":"https://doi.org/10.1109/ICARCV.2012.6485182","url":null,"abstract":"This paper presents the implementation of a perceptual system for a mobile robot. The system is designed and installed with modern sensors and multi-point communication channels. The goal is to equip the robot with a high level of perception to support a wide range of navigating applications including Internet-based telecontrol, semi-autonomy, and autonomy. Due to uncertainties of acquiring data, a sensor fusion model is developed, in which heterogeneous measured data including odometry, compass heading and laser range is combined to get an optimal estimate in a statistical sense. The combination is carried out by an extended Kalman filter. Experimental results indicate that based on the system, the robot localization is enhanced and sufficient for navigation tasks.","PeriodicalId":441236,"journal":{"name":"2012 12th International Conference on Control Automation Robotics & Vision (ICARCV)","volume":"9 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":"133003060","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.2012.6485361
Zhi Feng, G. Hu
This paper studies the passivity-based consensus analysis and the consensus synthesis problem (called passification) for a class of stochastic multi-agent systems subject to external disturbances. Based on Lyapunov methods, graph theory, and slack matrix methods such as the free-weighting matrix and Jensen's integral inequality, a new storage Lyapunov functional is proposed to derive delay-dependent sufficient conditions on mean-square exponential consensus and stochastic passivity for the stochastic multi-agent systems. By proposing passive time-varying stochastic consensus protocols, the solvability conditions for the passification problem are derived based on linearization techniques. A numerical example is provided to illustrate the effectiveness of the theoretical results.
{"title":"Passivity-based consensus and passification for a class of stochastic multi-agent systems with switching topology","authors":"Zhi Feng, G. Hu","doi":"10.1109/ICARCV.2012.6485361","DOIUrl":"https://doi.org/10.1109/ICARCV.2012.6485361","url":null,"abstract":"This paper studies the passivity-based consensus analysis and the consensus synthesis problem (called passification) for a class of stochastic multi-agent systems subject to external disturbances. Based on Lyapunov methods, graph theory, and slack matrix methods such as the free-weighting matrix and Jensen's integral inequality, a new storage Lyapunov functional is proposed to derive delay-dependent sufficient conditions on mean-square exponential consensus and stochastic passivity for the stochastic multi-agent systems. By proposing passive time-varying stochastic consensus protocols, the solvability conditions for the passification problem are derived based on linearization techniques. A numerical example is provided to illustrate the effectiveness of the theoretical results.","PeriodicalId":441236,"journal":{"name":"2012 12th International Conference on Control Automation Robotics & Vision (ICARCV)","volume":"71 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":"121090299","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.2012.6485190
Aymen Sellaouti, H. Rojbani, A. Hamouda, Cédric Wemmert, A. Deruyver
A hierarchical classification based road extraction approach is proposed in this paper. In order to extract road network, a spectral based-classification associates a confidence score to each region in the image. This score is used to extract road region and its constraints for each iteration of the hierarchy. Road localization is based on Radon transform and expert knowledge. The quality assessments in urban area images show the benefits of the introduced approach.
{"title":"Hierarchical classification-based radon road extraction (HCBRRE)","authors":"Aymen Sellaouti, H. Rojbani, A. Hamouda, Cédric Wemmert, A. Deruyver","doi":"10.1109/ICARCV.2012.6485190","DOIUrl":"https://doi.org/10.1109/ICARCV.2012.6485190","url":null,"abstract":"A hierarchical classification based road extraction approach is proposed in this paper. In order to extract road network, a spectral based-classification associates a confidence score to each region in the image. This score is used to extract road region and its constraints for each iteration of the hierarchy. Road localization is based on Radon transform and expert knowledge. The quality assessments in urban area images show the benefits of the introduced approach.","PeriodicalId":441236,"journal":{"name":"2012 12th International Conference on Control Automation Robotics & Vision (ICARCV)","volume":"192 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":"116101434","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.2012.6485149
A. Matveev, Michael Hoy, A. Savkin
We consider the problem of reactively navigating an unmanned vehicle along an obstacle in the case where data about its boundary are limited to the distance along and the reflection angle of the ray perpendicular to the vehicle centerline. Such situation holds if e.g., the measurements are supplied by several range sensors rigidly mounted at nearly right angles. A sliding mode control law is proposed that drives the vehicle at a pre-specified distance from the boundary and maintains this distance afterwards. This is achieved without estimation of the boundary curvature and holds for obstacles with both convexities and concavities. Mathematically rigorous analysis of the proposed control law is provided, including explicit account for the global geometry of the obstacle. Computer simulations and experiments with real wheeled robots confirm the applicability and performance of the proposed guidance approach.
{"title":"Boundary tracking by a wheeled robot with rigidly mounted sensors","authors":"A. Matveev, Michael Hoy, A. Savkin","doi":"10.1109/ICARCV.2012.6485149","DOIUrl":"https://doi.org/10.1109/ICARCV.2012.6485149","url":null,"abstract":"We consider the problem of reactively navigating an unmanned vehicle along an obstacle in the case where data about its boundary are limited to the distance along and the reflection angle of the ray perpendicular to the vehicle centerline. Such situation holds if e.g., the measurements are supplied by several range sensors rigidly mounted at nearly right angles. A sliding mode control law is proposed that drives the vehicle at a pre-specified distance from the boundary and maintains this distance afterwards. This is achieved without estimation of the boundary curvature and holds for obstacles with both convexities and concavities. Mathematically rigorous analysis of the proposed control law is provided, including explicit account for the global geometry of the obstacle. Computer simulations and experiments with real wheeled robots confirm the applicability and performance of the proposed guidance approach.","PeriodicalId":441236,"journal":{"name":"2012 12th International Conference on Control Automation Robotics & Vision (ICARCV)","volume":"26 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":"115523387","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.2012.6485177
Tushar Jain, J. Yamé, D. Sauter
In this paper, we present a case study for fault-tolerant control of an electric circuit in the behavioral framework. First, we demonstrate the modeling of electric circuit using the behavioral point of view, where no a priori input-output partition has been made. The uniqueness of behavioral approach lies in the fact that it deals only with variables describing the system without any dedicated (external or internal-type) representation. Taking this point of view, we present a novel real-time fault-tolerant control strategy, which does not require an explicit model-based fault diagnosis unit. Instead, the controller is reconfigured online directly based on the system trajectories, and the given control specifications. In this way, we inherently excrete the shortcomings that are often seen in model-based fault-tolerant systems.
{"title":"Case study on behavioral approach to fault-tolerant control: Application to an electric circuit","authors":"Tushar Jain, J. Yamé, D. Sauter","doi":"10.1109/ICARCV.2012.6485177","DOIUrl":"https://doi.org/10.1109/ICARCV.2012.6485177","url":null,"abstract":"In this paper, we present a case study for fault-tolerant control of an electric circuit in the behavioral framework. First, we demonstrate the modeling of electric circuit using the behavioral point of view, where no a priori input-output partition has been made. The uniqueness of behavioral approach lies in the fact that it deals only with variables describing the system without any dedicated (external or internal-type) representation. Taking this point of view, we present a novel real-time fault-tolerant control strategy, which does not require an explicit model-based fault diagnosis unit. Instead, the controller is reconfigured online directly based on the system trajectories, and the given control specifications. In this way, we inherently excrete the shortcomings that are often seen in model-based fault-tolerant systems.","PeriodicalId":441236,"journal":{"name":"2012 12th International Conference on Control Automation Robotics & Vision (ICARCV)","volume":"8 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":"123943890","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.2012.6485411
Hongliang Yu, Wanli Liu, Huijun Dong
The calciner link and grate cooler link in the cement production have the characteristics of strong nonlinearity, time-varying, large time delay and coupling among variables which cause the big fluctuation of working condition, increasing difficulty of modeling and control. To solve such problem, we propose the working condition identification method based on expert system. In this paper, according to real-time and accuracy control requirements and the site operation experience, we summarize the working condition identification expert rules for calciner and grate cooler links. Then according to the different features of different working conditions, we take different identification methods to recognize working conditions. Based on the above expert knowledge, working condition recognition system can identify the current condition accurately and give reasonable operation suggestions. Condition recognition software is compiled by VB6.0, and field application shows that the project is reasonable and practical.
{"title":"Research on recognition of working condition for calciner and grate cooler based on expert system","authors":"Hongliang Yu, Wanli Liu, Huijun Dong","doi":"10.1109/ICARCV.2012.6485411","DOIUrl":"https://doi.org/10.1109/ICARCV.2012.6485411","url":null,"abstract":"The calciner link and grate cooler link in the cement production have the characteristics of strong nonlinearity, time-varying, large time delay and coupling among variables which cause the big fluctuation of working condition, increasing difficulty of modeling and control. To solve such problem, we propose the working condition identification method based on expert system. In this paper, according to real-time and accuracy control requirements and the site operation experience, we summarize the working condition identification expert rules for calciner and grate cooler links. Then according to the different features of different working conditions, we take different identification methods to recognize working conditions. Based on the above expert knowledge, working condition recognition system can identify the current condition accurately and give reasonable operation suggestions. Condition recognition software is compiled by VB6.0, and field application shows that the project is reasonable and practical.","PeriodicalId":441236,"journal":{"name":"2012 12th International Conference on Control Automation Robotics & Vision (ICARCV)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125504690","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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