This paper presents control and coordination algorithms for groups of vehicles. The focus is on autonomous vehicle networks performing distributed sensing tasks where each vehicle plays the role of a mobile tunable sensor. The paper proposes gradient descent algorithms for a class of utility functions which encode optimal coverage and sensing policies. The resulting closed-loop behavior is adaptive, distributed, asynchronous, and verifiably correct.

Coverage control for mobile sensing networks

Learning and then recognizing a route, whether travelled during the day or at night, in clear or inclement weather, and in summer or winter is a challenging task for state of the art algorithms in computer vision and robotics. In this paper, we present a new approach to visual navigation under changing conditions dubbed SeqSLAM. Instead of calculating the single location most likely given a current image, our approach calculates the best candidate matching location within every local navigation sequence. Localization is then achieved by recognizing coherent sequences of these “local best matches”. This approach removes the need for global matching performance by the vision front-end - instead it must only pick the best match within any short sequence of images. The approach is applicable over environment changes that render traditional feature-based techniques ineffective. Using two car-mounted camera datasets we demonstrate the effectiveness of the algorithm and compare it to one of the most successful feature-based SLAM algorithms, FAB-MAP. The perceptual change in the datasets is extreme; repeated traverses through environments during the day and then in the middle of the night, at times separated by months or years and in opposite seasons, and in clear weather and extremely heavy rain. While the feature-based method fails, the sequence-based algorithm is able to match trajectory segments at 100% precision with recall rates of up to 60%.

SeqSLAM : visual route-based navigation for sunny summer days and stormy winter nights

Induction heating (IH) technology is nowadays the heating technology of choice in many industrial, domestic, and medical applications due to its advantages regarding efficiency, fast heating, safety, cleanness, and accurate control. Advances in key technologies, i.e., power electronics, control techniques, and magnetic component design, have allowed the development of highly reliable and cost-effective systems, making this technology readily available and ubiquitous. This paper reviews IH technology summarizing the main milestones in its development and analyzing the current state of art of IH systems in industrial, domestic, and medical applications, paying special attention to the key enabling technologies involved. Finally, an overview of future research trends and challenges is given, highlighting the promising future of IH technology.

/pdf/induction-heating-technology-and-its-applications-past-218lub4zxh.pdf

Induction Heating Technology and Its Applications: Past Developments, Current Technology, and Future Challenges

https://www.fs.fed.us/nrs/pubs/jrnl/2013/nrs_2013_dandios_001.pdf

High spatial resolution three-dimensional mapping of vegetation spectral dynamics using computer vision

Lecture notes in control and information sciences

Navigation assistance for visually impaired (NAVI) refers to systems that are able to assist or guide people with vision loss, ranging from partially sighted to totally blind, by means of sound commands. In this paper, a new system for NAVI is presented based on visual and range information. Instead of using several sensors, we choose one device, a consumer RGB-D camera, and take advantage of both range and visual information. In particular, the main contribution is the combination of depth information with image intensities, resulting in the robust expansion of the range-based floor segmentation. On one hand, depth information, which is reliable but limited to a short range, is enhanced with the long-range visual information. On the other hand, the difficult and prone-to-error image processing is eased and improved with depth information. The proposed system detects and classifies the main structural elements of the scene providing the user with obstacle-free paths in order to navigate safely across unknown scenarios. The proposed system has been tested on a wide variety of scenarios and data sets, giving successful results and showing that the system is robust and works in challenging indoor environments.

/pdf/navigation-assistance-for-the-visually-impaired-using-rgb-d-4zf05yk8em.pdf

Navigation Assistance for the Visually Impaired Using RGB-D Sensor With Range Expansion

In this paper, we present a visual servo controller that effects optimal paths for a nonholonomic differential drive robot with field-of-view constraints imposed by the vision system. The control scheme relies on the computation of homographies between current and goal images, but unlike previous homography-based methods, it does not use the homography to compute estimates of pose parameters. Instead, the control laws are directly expressed in terms of individual entries in the homography matrix. In particular, we develop individual control laws for the three path classes that define the language of optimal paths: rotations, straight-line segments, and logarithmic spirals. These control laws, as well as the switching conditions that define how to sequence path segments, are defined in terms of the entries of homography matrices. The selection of the corresponding control law requires the homography decomposition before starting the navigation. We provide a controllability and stability analysis for our system and give experimental results.

/pdf/homography-based-control-scheme-for-mobile-robots-with-4azt5aj8hb.pdf

Homography-Based Control Scheme for Mobile Robots With Nonholonomic and Field-of-View Constraints

Driving mobile robots to precise locations is of recognized interest, and using vision sensors in this context supplies many advantages. We propose a novel control law based on sliding-mode theory in order to drive mobile robots to a target location, which is specified by a previously acquired reference image. The control scheme exploits the piecewise epipolar geometry of three views on the basis of image-based visual servoing, in such a way that no 3-D scene information is required. The contribution of the paper is a new control law that achieves convergence to the target with no auxiliary images and without changing to any approach other than epipolar-based control. Additionally, the use of sliding-mode control deals with singularities, thus allowing the robot to move directly toward the target as well as avoiding the need of a precise camera calibration. The effectiveness of our approach is tested with simulations and real-world experiments.

http://personal.cimat.mx:8181/~hmbecerra/HMB_TRO11.pdf

A Sliding-Mode-Control Law for Mobile Robots Based on Epipolar Visual Servoing From Three Views

https://webdiis.unizar.es/%7Ecsagues/publicaciones/08RAS_SwitchEpipolGonz_cp.pdf

Switching visual control based on epipoles for mobile robots

This paper describes a new vision-based control method to drive a set of robots moving on the ground plane to a desired formation. As the main contribution, we propose to use multiple camera-equipped unmanned aerial vehicles (UAVs) as control units. Each camera views, and is used to control, a subset of the ground team. Thus, the method is partially distributed, combining the simplicity of centralized schemes with the scalability and robustness of distributed strategies. Relying on a homography computed for each UAV-mounted camera, our approach is purely image-based and has low computational cost. In the control strategy we propose, if a robot is seen by multiple cameras, it computes its motion by combining the commands it receives. Then, if the intersections between the sets of robots viewed by the different cameras satisfy certain conditions, we formally guarantee the stabilization of the formation, considering unicycle robots. We also propose a distributed algorithm to control the camera motions that preserves these required overlaps, using communications. The effectiveness of the presented control scheme is illustrated via simulations and experiments with real robots.

Gonzalo López-Nicolás

Papers

Navigation Assistance for the Visually Impaired Using RGB-D Sensor With Range Expansion

Homography-Based Control Scheme for Mobile Robots With Nonholonomic and Field-of-View Constraints

A Sliding-Mode-Control Law for Mobile Robots Based on Epipolar Visual Servoing From Three Views

Switching visual control based on epipoles for mobile robots

Formation Control of Mobile Robots Using Multiple Aerial Cameras