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.

Application of quadratic differential forms to designing linear controllers for nonlinearities

Abstract: We consider the following problem: given a nonlinear system (possibly with memory), parametrize a class of linear systems that can be interconnected (through fairly general interconnection constraints) with the nonlinear system to yield a stable autonomous system. We address this problem in a behavioral theoretic setting by constructing Quadratic Differential Forms (QDFs) called storage functions associated with the linear system. Copyright © 2010 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society

Smart Technologies for Unmanned Surface Vessels : On the Path Towards Full Automation

Abstract: As for the automotive industry, large efforts are being made by industry andacademia to create autonomous ships. Te solutions for this is very technologyintense, as many building blocks, often relying on AI technology, need to worktogether to create a complete system that is safe and reliable to use. Even whenthe ships are fully unmanned, humans are still foreseen to guide the ships whenunknown situations arise. Tis will be done through teleoperation systems.In this thesis, methods are presented to enhance the capability of two building blocks that are important for autonomous ships; a positioning system, and asystem for remote supervision.Te positioning system has been constructed to not rely on GPS (Global Positioning System), as this system can be jammed or be spoofed. Instead, it usesBayesian calculations to compare the bottom depth and magnetic field measurements with known sea charts and magnetic field maps, in order to estimate theposition. State-of-the-art techniques for this method normally use low-accuracynavigation sensors and high-resolution maps. Te problem is that there are hardlyany high-resolution maps available in the world, hence we present a method of theopposite; namely using high-accuracy navigation sensors and low-resolution maps(normal sea charts). Te results from a 20h test-run gave a mean position error of10.2m, which would in most cases be accurate enough for navigation purpose.In the second building block, we investigated, how 3D and VR approachescould support the remote operation of unmanned ships with a low bandwidthconnection, by comparing respective GUIs with a Baseline GUI following the currently applied interfaces in such contexts. Our findings show, that both the 3Dand VR approaches outperform the traditional approach significantly. We foundthe 3D GUI and VR GUI users to be better at reacting to potentially dangeroussituations compared to the Baseline GUI users, and they could keep track of thesurroundings more accurately. (Less)

Cartography For Cooperative Manoeuvres With Autonomous Land Vehicles

Abstract: This article presents a cartographic system to facilitate cooperative manoeuvres among autonomous vehicles in a well-known environment. The main objective is to design an extended cartographic system to help in the navigation of autonomous vehicles. This system has to allow the vehicles not only to access the reference points needed for navigation, but also noticeable information such as the location and type of traffic signals, the proximity to a crossing, the streets en route, etc. To do this, a hierarchical representation of the information has been chosen, where the information has been stored in two levels. The lower level contains the archives with the Universal Traverse Mercator (UTM) coordinates of the points that define the reference segments to follow. The upper level contains a directed graph with the relational database in which streets, crossings, roundabouts and other points of interest are represented. Using this new system it is possible to know when the vehicle approaches a crossing, what other paths arrive at that crossing, and, should there be other vehicles circulating on those paths and arriving at the crossing, which one has the highest priority. The data obtained from the cartographic system is used by the autonomous vehicles for cooperative manoeuvres.

Navigation of Autonomous Mobile Robots - Invited Paper

Abstract: Navigation of autonomous vehicles and robots can be divided into two categories: indoor navigation and outdoor navigation. In general the outdoor navigation is more difficult and complex task because often the environment does not have characteristic points that can be identified and with respect to which robots could relate their position. If environment is unstructured (e.g. off-road environment), problems related to autonomous navigation are very difficult. Problems related to navigation in the unstructured environment could be divided into mapping, localization, collision avoidance and trajectory tracking.