Autonomous system (mathematics)

About: Autonomous system (mathematics) is a research topic. Over the lifetime, 1648 publications have been published within this topic receiving 38373 citations.

Complete calming and stabilization of delay systems using spectral reduction

Abstract: Spectrally controllable autonomous system with commensurable delays is reduced to a system with finite spectrum. For the spectrally reduced system, a state feedback is constructed such that it ensures complete calming of the original system and stability of the closed-loop system. The distributed delay in the closed-loop system can be only in one variable. The results are illustrated by an example.

Exploration of Explainable AI in Context of Human-Machine Interface for the Assistive Driving System

Abstract: This paper presents the application and issues related to explainable AI in context of a driving assistive system. One of the key functions of the assistive system is to signal potential risks or hazards to the driver in order to allow for prompt actions and timely attention to possible problems occurring on the road. The decision making of an AI component needs to be explainable in order to minimise the time it takes for a driver to decide on whether any action is necessary to avoid the risk of collision or crash. In the explored cases, the autonomous system does not act as a “replacement” for the human driver, instead, its role is to assist the driver to respond to challenging driving situations, possibly difficult manoeuvres or complex road scenarios. The proposed solution validates the XAI approach for the design of a safety and security system that is able to identify and highlight potential risk in autonomous vehicles.

Metric Map Generation for Autonomous Field Operations

Abstract: Advanced systems for manned and/or agricultural vehicles—such as systems for auto-steering, navigation-adding, and autonomous route planning—require new capabilities in terms of the internal representation for the autonomous system of the working space; that is, the generation of a metric map that provides by numerical parameters any operation-related entity of the working space. In this paper, a real-time approach was developed for the generation of the field metric map, based on a row generation method (polygons-based geometry). The approach can deal with fields with or without in-field obstacles, where the generated field-work tracks can be either straight or curved. The functionality of the approach was demonstrated on 12 fields with different number of obstacles ranging from one to six. The test results showed that the computational times were in the range of 0.26–24.51 s. The presented tool brings a number of advancements on the process of generating a metric map for arable farming field operations, including the real-time generation feature, the potential to deal with multiple-obstacle areas, and the reduction in the overlapped area.

A composite state convergence scheme for bilateral teleoperation systems

Abstract: State convergence is a novel control algorithm for bilateral teleoperation of robotic systems. First, it models the teleoperation system on state space and considers all the possible interactions between the master and slave systems. Second, it presents an elegant design procedure which requires a set of equations to be solved in order to compute the control gains of the bilateral loop. These design conditions are obtained by turning the master-slave error into an autonomous system and imposing the desired dynamic behavior of the teleoperation system. Resultantly, the convergence of master and slave states is achieved in a well-defined manner. The present study aims at achieving a similar convergence behavior offered by state convergence controller while reducing the number of variables sent across the communication channel. The proposal suggests transmitting composite master and slave variables instead of full master and slave states while keeping the operatorʼ force channel intact. We show that, with these composite and force variables, it is indeed possible to achieve the convergence of states in a desired way by strictly following the method of state convergence. The proposal leads to a reduced complexity state convergence algorithm which is termed as composite state convergence controller. In order to validate the proposed scheme in the absence and presence of communication time delays, MATLAB simulations and semi-real time experiments are performed on a single degree-of-freedom teleoperation system.

Integrated perception, planning and control for autonomous soil analysis

Abstract: The authors describe an autonomous system that performs closed loop control of a differential thermal analyzer (DTA) and a gas chromatograph (GC) to identify minerals and organics in soil samples. The system is presented as an instantiation of an integrated agent architecture designed to autonomously control scientific equipment in remote locations. The motivational context and general requirements of the application are described, followed by a description of the DTA-GC problem in terms of specific requirements for integrated perception, analysis, planning and control. The AI techniques applied to each of the specified requirements are considered. The system implementation status is discussed. The original contributions include a general architecture that integrates perception, analysis, planning and control for scientific experiments. The new analysis instrument integrates two previously distinct methods. Issues at the integration level as well as those relating to the individual components are examined. >