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

Most of the signal processing that we will study in this course involves local operations on a signal, namely transforming the signal by applying linear combinations of values in the neighborhood of each sample point. You are familiar with such operations from Calculus, namely, taking derivatives and you are also familiar with this from optics namely blurring a signal. We will be looking at sampled signals only. Let's start with a few basic examples. Local difference Suppose we have a 1D image and we take the local difference of intensities, DI(x) = 1 2 (I(x + 1) − I(x − 1)) which give a discrete approximation to a partial derivative. (We compute this for each x in the image.) What is the effect of such a transformation? One key idea is that such a derivative would be useful for marking positions where the intensity changes. Such a change is called an edge. It is important to detect edges in images because they often mark locations at which object properties change. These can include changes in illumination along a surface due to a shadow boundary, or a material (pigment) change, or a change in depth as when one object ends and another begins. The computational problem of finding intensity edges in images is called edge detection. We could look for positions at which DI(x) has a large negative or positive value. Large positive values indicate an edge that goes from low to high intensity, and large negative values indicate an edge that goes from high to low intensity. Example Suppose the image consists of a single (slightly sloped) edge:

http://ieeexplore.ieee.org/iel5/5/31307/01456462.pdf

Linear systems

This book, written by two major figures in adaptive control, provides a wealth of material for researchers, practitioners, and students. While some researchers in adaptive control may note the absence of a particular topic, the book‘s scope represents a high-gain instrument. It can be used by designers of control systems to enhance their work through the information on many new theoretical developments, and can be used by mathematical control theory specialists to adapt their research to practical needs. The book is strongly recommended to anyone interested in adaptive control.

Adaptive Control

System Identification I

Thermophysical Properties Research Literature Retrieval Guide Edited by Y. S. Touloukian, J. K. Gerritsen and N. Y. Moore Second edition, revised and expanded. Book 1: Pp. xxi + 819. Book 2: Pp.621. Book 3: Pp. ix + 1315. (New York: Plenum Press, 1967.) n.p.

/pdf/heat-and-mass-transfer-1yaijfx8vp.pdf

Heat and Mass Transfer

Die vorliegende Erfindung betrifft eine Kransteuerung fur einen Kran, welcher ein Hubwerk zum Heben einer an einem Seil hangenden Last aufweist, mit einer aktiven Seegangskompensation, welche durch eine Ansteuerung des Hubwerks die Bewegung des Seilaufhangepunkts und/oder eines Lastabsetzpunktes aufgrund des Seegangs zumindest teilweise ausgleicht, und einer Bedienersteuerung, welche das Hubwerk anhand von Vorgaben des Bedieners ansteuert, wobei die Aufteilung mindestens einer kinematisch beschrankten Grose des Hubwerks zwischen Seegangskompensation und Bedienersteuerung einstellbar ist.

Kransteuerung mit Aufteilung einer kinematisch beschränkten Größe des Hubwerks

In this paper an overall, simplified modeling approach describing the dependency between applied brake pressure and brake torque is presented. Therefore the internal amplification of a disc brake, the so-called brake-factor, is modeled in dependency of the vehicle velocity, the brake pressure and the brake temperature. As the application of this model requires the brake temperature, which is commonly not measured, a new lumped-mass-based brake temperature model, that describes the thermal behavior of a typical disc brake is stated and validated.

Simplified Disc Brake Modeling, Identification, and Validation focusing on Temperature Influences

Stochastic Model Predictive Control for Hybrid Energy Systems.

http://www.nt.ntnu.no/users/skoge/prost/proceedings/ifac2002/data/content/01631/1631.pdf

Trajectory control of crane load position and inclination

Until now, most papers concerning control of overhead travelling cranes have only focussed on position control of the translational degrees of freedom, see for example [1], [3], [4], and [5]. With more advanced robotic applications envisaged, however, there is a demand for both trajectory control in six degrees of freedom and active damping of the weakly damped load oscillations due to the rope suspension [2]. Hence, a model based trajectory control is presented for an overhead travelling crane that has been upgraded with an orientation unit providing three additional axes. Starting from a central multibody model, decentralised design models are derived for each crane axis. By this, couplings between the axes are identified and appear as disturbance inputs in these decentralised design models. Each decentralised axis controller consists of linear state feedback, feedforward control, and observer based disturbance compensation and is derived in symbolic form. This allows for an adaptation of the complete control structure employing the gain scheduling technique with respect to varying system parameters like rope length and load mass. Couplings between the crane axes are compensated by feedforward control, whereas the e.ects of nonlinear friction forces are counteracted by combination of feedforward control and disturbance estimation. Experimental results, taken at a 5 t - bridge crane, show the bene.ts of the proposed control scheme as regards control performance and steady-state accuracy.

https://onlinelibrary.wiley.com/doi/pdf/10.1002/pamm.200310040

Oliver Sawodny

Papers

Kransteuerung mit Aufteilung einer kinematisch beschränkten Größe des Hubwerks

Simplified Disc Brake Modeling, Identification, and Validation focusing on Temperature Influences

Stochastic Model Predictive Control for Hybrid Energy Systems.

Trajectory control of crane load position and inclination

Model Based Trajectory Control of an Overhead Travelling Crane