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Rolling horizon coverage control with collaborative autonomous agents.
Philos Trans A Math Phys Eng Sci
January 2025
KIOS Research and Innovation Center of Excellence (KIOS CoE) and Department of Electrical and Computer Engineering, University of Cyprus, Nicosia 1678, Cyprus.
This work proposes a coverage controller that enables an aerial team of distributed autonomous agents to collaboratively generate non-myopic coverage plans over a rolling finite horizon, aiming to cover specific points on the surface area of a three-dimensional object of interest. The collaborative coverage problem, formulated as a distributed model predictive control problem, optimizes the agents' motion and camera control inputs, while considering inter-agent constraints aiming at reducing work redundancy. The proposed coverage controller integrates constraints based on light-path propagation techniques to predict the parts of the object's surface that are visible with regard to the agents' future anticipated states.
View Article and Find Full Text PDFRisk quantification based Adaptive Cruise control and its application in approaching behavior at signalized intersections.
Accid Anal Prev
January 2025
School of Transportation, Southeast University, Nanjing, Jiangsu Province 211189, PR China; Institute on Internet of Mobility, Southeast University and University of Wisconsin-Madison, Southeast University, Nanjing, Jiangsu Province 211189, PR China.
Traffic signals, while reducing conflicts within intersections, often lead to stop-and-go behaviors in approaching vehicles, negatively impacting traffic flow in terms of safety, efficiency, and fuel consumption. Aimed at minimizing the traffic oscillations caused by traffic signals through Connected and Autonomous Vehicles (CAVs) and meeting real-time operational needs, this paper proposes a Risk-Based Adaptive Cruise Control (RACC). RACC designs the constraints of approaching a signalized intersection as expected risks, enabling compliance with all constraints while being adaptable to basic road scenarios.
View Article and Find Full Text PDFSafety-assured high-speed navigation for MAVs.
Sci Robot
January 2025
Department of Mechanical Engineering, University of Hong Kong, Pokfulam, Hong Kong, China.
Micro air vehicles (MAVs) capable of high-speed autonomous navigation in unknown environments have the potential to improve applications like search and rescue and disaster relief, where timely and safe navigation is critical. However, achieving autonomous, safe, and high-speed MAV navigation faces systematic challenges, necessitating reduced vehicle weight and size for high-speed maneuvering, strong sensing capability for detecting obstacles at a distance, and advanced planning and control algorithms maximizing flight speed while ensuring obstacle avoidance. Here, we present the safety-assured high-speed aerial robot (SUPER), a compact MAV with a 280-millimeter wheelbase and a thrust-to-weight ratio greater than 5.
View Article and Find Full Text PDFEnhancing lane detection in autonomous vehicles with multi-armed bandit ensemble learning.
Sci Rep
January 2025
School of Computer Science Engineering and Information Systems, Vellore Institute of Technology, Vellore, India.
This study introduces a novel ensemble learning technique namely Multi-Armed Bandit Ensemble (MAB-Ensemble), designed for lane detection in road images intended for autonomous vehicles. The foundation of the proposed MAB-Ensemble technique is inspired in terms of Multi-Armed bandit optimization to facilitate efficient model selection for lane segmentation. The benchmarking dataset namely TuSimple is used for training, validating and testing the proposed and existing lane detection techniques.
View Article and Find Full Text PDFNumerical Modelling of Hybrid Polymer Composite Frame for Selected Construction Parts and Experimental Validation of Mechanical Properties.
Polymers (Basel)
January 2025
Department of Material Science and Manufacturing Technology, Faculty of Engineering, Czech University of Life Sciences Prague, Kamycka 129, 16500 Prague, Czech Republic.
This article is a numerical and experimental study of the mechanical properties of different glass, flax and hybrid composites. By utilizing hybrid composites consisting of natural fibers, the aim is to eventually reduce the percentage usage of synthetic or man-made fibers in composites and obtain similar levels of mechanical properties that are offered by composites using synthetic fibers. This in turn would lead to greener composites being utilized.
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