Experimental study of gradient-based visual coverage control on SO(3) toward moving object/human monitoring

2015 ◽  
Author(s):  
Marc Forstenhaeusler ◽  
Riku Funada ◽  
Takeshi Hatanaka ◽  
Masayuki Fujita
Keyword(s):  
Experimental Study ◽  
Moving Object ◽  
Coverage Control ◽  
Gradient Based ◽  
Human Monitoring ◽  
Visual Coverage

Visual Coverage Control for Teams of Quadcopters via Control Barrier Functions

2019 ◽  
Author(s):  
Riku Funada ◽  
Maria Santos ◽  
Junya Yamauchi ◽  
Takeshi Hatanaka ◽  
Masayuki Fujita ◽  
...  
Keyword(s):  
Barrier Functions ◽  
Coverage Control ◽  
Visual Coverage

scholarly journals Multiattribute Utility Copulas for Multi-objective Coverage Control

2014 ◽  
Vol 5 (1) ◽  
Author(s):  
Christopher G. Valicka ◽  
Richard A. Rekoske ◽  
Dušan M. Stipanovic ◽  
Ali E. Abbas
Keyword(s):  
Multirobot Systems ◽  
Control Law ◽  
Objective Functions ◽  
Multiattribute Utility ◽  
Maximum Function ◽  
Differential Drive ◽  
Coverage Control ◽  
Gradient Based ◽  
Global Coverage ◽  
Nonnegative Definite

AbstractThis paper presents theoretical and experimental results related to the control and coordination of multirobot systems interested in dynamically covering a compact domain while remaining proximal, so as to promote robust inter-robot communications, and while remaining collision free with respect to each other and static obstacles. A design for a novel, gradient-based controller using nonnegative definite objective functions and an overapproximation to the maximum function is presented. By using a multiattribute utility copula to scalarize the multiobjective control problem, a control law is presented that allows for flexible tuning of the tradeofs between objectives. This procedure mitigates the controller’s dependence on objective function parameters and allows for the straightforward integration of a novel global coverage objective. Simulation and experiments demonstrate the controller’s efectiveness in promoting scenarios with collision free trajectories, robust communications, and satisfactory coverage of the entire coverage domain concurrently for a group of differential drive robots.

scholarly journals AN ADAPTIVE BACKGROUND UPDATION AND GRADIENT BASED SHADOW REMOVAL METHOD

2013 ◽  
pp. 288-293
Author(s):  
SUMIT KUMAR SINGH ◽  
MAGAN SINGH
Keyword(s):  
Background Subtraction ◽  
Moving Objects ◽  
Object Segmentation ◽  
Moving Object ◽  
Shadow Removal ◽  
Subtraction Method ◽  
Moving Object Segmentation ◽  
Shadow Elimination ◽  
Illumination Changes ◽  
Gradient Based

Moving object segmentation has its own niche as an important topic in computer vision. It has avidly being pursued by researchers. Background subtraction method is generally used for segmenting moving objects. This method may also classify shadows as part of detected moving objects. Therefore, shadow detection and removal is an important step employed after moving object segmentation. However, these methods are adversely affected by changing environmental conditions. They are vulnerable to sudden illumination changes, and shadowing effects. Therefore, in this work we propose a faster, efficient and adaptive background subtraction method, which periodically updates the background frame and gives better results, and a shadow elimination method which removes shadows from the segmented objects with good discriminative power. Keywords- Moving object segmentation,

scholarly journals Experimental study on human arm motion to track a moving object.

1997 ◽  
Vol 33 (Supplement) ◽  
pp. 168-169
Author(s):  
Masaharu Saito ◽  
Shinya Kajikawa ◽  
Kohtaro Ohba ◽  
Hikaru Inooka
Keyword(s):  
Experimental Study ◽  
Moving Object ◽  
Human Arm ◽  
Arm Motion

scholarly journals Embedded Video Surveillance Based Moving Object Detection and Tracking

2019 ◽  
Vol 8 (3) ◽  
pp. 5740-5745
Keyword(s):  
Object Detection ◽  
Optical Flow ◽  
Video Surveillance ◽  
Intelligent Systems ◽  
Moving Objects ◽  
Moving Object Detection ◽  
Moving Object ◽  
Superior Performance ◽  
Detection And Tracking ◽  
Gradient Based

Background reckoning and the foreground, play prominent roles in the tasks of visual detection and tracking of objects. Moving Object Detection has been widely used in sundry discipline such as intelligent systems, security systems, video monitoring systems, banking places, provisionary systems, and so on. In this paper proposes moving objects detection and tracking method based on Embedded Video Surveillance. The method is based on using lines computed by a gradient-based optical flow and an edge detector gradient-based optical flow and edges are well matched for accurate computation of velocity, not much attention is paid to creating systems for tracking objects using this feature. The proposed method is compared with a recent work, proving its superior performance and when we want to represent high quality videos and images with, lower bit rate, and also suitable for real-world live video applications. This method reduces influences of foreground objects to the background model. The simulation results show that the background image can be obtained precisely and the moving objects recognition is achieved effectively

scholarly journals Fault tolerant area coverage control for multiagent systems

2018 ◽  
Vol 188 ◽  
pp. 05010
Author(s):  
Sotiris Papatheodorou ◽  
Anthony Tzes
Keyword(s):  
Multiagent Systems ◽  
Mobile Agents ◽  
Fault Tolerant ◽  
Region Of Interest ◽  
Simulation Studies ◽  
Coverage Control ◽  
Control Scheme ◽  
Gradient Based ◽  
Multi Agent ◽  
Catastrophic Faults

The fault tolerance characteristics of a distributed multi-agent coverage algorithm are examined. A team of sensor-equipped mobile agents is tasked with covering a planar region of interest. A distributed, gradient-based control scheme is utilized for this purpose. The agents are assumed to consist of three subsystems, each one of which may fail. The subsystems under examination are the actuation, sensing and the communication subsystem. Partial and catastrophic faults are examined. Several simulation studies are conducted highlighting the robustness of the distributed nature of the control scheme to these classes of faults, even when several of them happen at the same time.

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