1,721,105 research outputs found
Tight error bounds for projection algorithms in conditional set membership estimation
No full textIn set membership estimation, conditional problems arise when the estimate must belong to a given set of assigned structure. Conditional projection algorithms provide estimates that are suboptimal in. terms of the worst-case estimation error. In order to precisely evaluate the suboptimality level of these estimators, tight upper bounds on the estimation errors must be computed as a function of the conditional radius of information, which represents the minimum achievable error. In this paper, tight bounds are derived for l(infinity) and l(1) estimation errors, in a general setting which allows to consider any compact set of feasible problem elements and linearly parameterized estimates
MARS: a Matlab simulator for mobile robotics experiments
No full textThis paper describes a Matlab simulator for mobile robotics experiments called MARS. This tool allows the simulation of team of robots in structured and unstructured environments. Several kinds of experiments can be performed, ranging from single to multi-robots, from cooperative to competitive tasks, using both centralized and distributed controllers. Robots may be equipped with virtual sensors to detect obstacles in the environment. This project is mainly intended for educational aims, and thanks to the use of the Matlab language, it allows students to easily design control laws for teams of robots and to simulate their behavior through a suitable animation
A new class of pursuer strategies for the discrete-time lion and man problem
Full text linkThis paper addresses a discrete-time pursuit-evasion game, known as the lion and man problem. The pursuer is chasing the evader within the positive quadrant of a two-dimensional environment and wins the game when it reaches the evader position. A new family of pursuer strategies is proposed, which relies on the minimization of a user-defined function of the environment coordinates. The approach guarantees capture in finite time, no matter which is the strategy adopted by the evader. The degree of freedom associated to the choice of the function to be minimized enhances the flexibility of the pursuer strategy. Moreover, numerical simulations show the superiority of the proposed solution with respect to the most common pursuit strategies available in the literature
On Input Design in l(infinity) Conditional Set Membership Identification
No full textThis paper deals with input design in conditional set membership identification. The problem is how to choose the input signal in order to minimize the global worst-case identification error. A characterization of the l∞ identification error is provided, showing that the optimal input is the one that minimizes the l∞ radius of a suitable set. Moreover, sufficient conditions under which the impulse input is optimal are provided
On Optimal Input Design in Conditional Set Membership Identification
No full textThis paper deals with optimal input design in conditional set membership identification. The problem is how to choose the input signal in order to minimize the global worst-case identification error. A characterization of the l∞ identification error is provided, showing that the optimal input is the one that minimizes the l∞ radius of a suitable set. Moreover, sufficient conditions under which the impulse input is optimal are given
Input design in worst-case system identification with quantized measurements
No full textThis paper addresses the problem of set membership system identification with quantized measurements. Following the work developed for binary measurements, the problem of optimal input design with multiple sensor thresholds is tackled. For a FIR model of order n, the problem is decomposed into n static gain problems. The one-step optimal input problem is solved both for equispaced and generic sensor threshold distribution. Moreover, the N-step optimal input problem for the case of equispaced thresholds is addressed, and a solution is provided under a suitable assumption on the sensor range and resolution. The obtained results allow us to construct an upper bound on the time complexity of the FIR identification problem for the case of equispaced thresholds. Numerical application examples are reported to show the effectiveness of the proposed algorithms
Cooperative localization and map building for multi-robot systems: a set membership approach
No full textThe problem of simultaneous localization and map building for a team
of cooperating robots moving in an unknown environment is addressed. The robots have to estimate the position of static landmarks, and then localize themselves with respect to other robots and landmarks, exploiting distance and angle measurements. A novel set theoretic approach to this problem is presented. The proposed localization algorithm provides position estimates and guaranteed uncertainty regions for all robots and landmarks in the environment
Fast Algorithms For Generalized Predictive Control
No full textFast algorithms for generalized predictive control (GPC) are derived by adopting an approach whereby dynamic programming and a polynomial formulation are jointly exploited. They consist of a set of coupled linear polynomial recursions by which the dynamic output feedback GPC law is recursively computed with only O(Nn) computations for an n-th order plant and N-steps prediction horizon
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