507 research outputs found
A Systematic Survey of Control Techniques and Applications: From Autonomous Vehicles to Connected and Automated Vehicles
Vehicle control is one of the most critical challenges in autonomous vehicles
(AVs) and connected and automated vehicles (CAVs), and it is paramount in
vehicle safety, passenger comfort, transportation efficiency, and energy
saving. This survey attempts to provide a comprehensive and thorough overview
of the current state of vehicle control technology, focusing on the evolution
from vehicle state estimation and trajectory tracking control in AVs at the
microscopic level to collaborative control in CAVs at the macroscopic level.
First, this review starts with vehicle key state estimation, specifically
vehicle sideslip angle, which is the most pivotal state for vehicle trajectory
control, to discuss representative approaches. Then, we present symbolic
vehicle trajectory tracking control approaches for AVs. On top of that, we
further review the collaborative control frameworks for CAVs and corresponding
applications. Finally, this survey concludes with a discussion of future
research directions and the challenges. This survey aims to provide a
contextualized and in-depth look at state of the art in vehicle control for AVs
and CAVs, identifying critical areas of focus and pointing out the potential
areas for further exploration
On an Information and Control Architecture for Future Electric Energy Systems
This paper presents considerations towards an information and control
architecture for future electric energy systems driven by massive changes
resulting from the societal goals of decarbonization and electrification. This
paper describes the new requirements and challenges of an extended information
and control architecture that need to be addressed for continued reliable
delivery of electricity. It identifies several new actionable information and
control loops, along with their spatial and temporal scales of operation, which
can together meet the needs of future grids and enable deep decarbonization of
the electricity sector. The present architecture of electric power grids
designed in a different era is thereby extensible to allow the incorporation of
increased renewables and other emerging electric loads.Comment: This paper is accepted, to appear in the Proceedings of the IEE
Cognition-inspired 5G cellular networks: a review and the road ahead
Despite the evolution of cellular networks, spectrum scarcity and the lack of intelligent and autonomous capabilities remain a cause for concern. These problems have resulted in low network capacity, high signaling overhead, inefficient data forwarding, and low scalability, which are expected to persist as the stumbling blocks to deploy, support and scale next-generation applications, including smart city and virtual reality. Fifth-generation (5G) cellular networking, along with its salient operational characteristics - including the cognitive and cooperative capabilities, network virtualization, and traffic offload - can address these limitations to cater to future scenarios characterized by highly heterogeneous, ultra-dense, and highly variable environments. Cognitive radio (CR) and cognition cycle (CC) are key enabling technologies for 5G. CR enables nodes to explore and use underutilized licensed channels; while CC has been embedded in CR nodes to learn new knowledge and adapt to network dynamics. CR and CC have brought advantages to a cognition-inspired 5G cellular network, including addressing the spectrum scarcity problem, promoting interoperation among heterogeneous entities, and providing intelligence and autonomous capabilities to support 5G core operations, such as smart beamforming. In this paper, we present the attributes of 5G and existing state of the art focusing on how CR and CC have been adopted in 5G to provide spectral efficiency, energy efficiency, improved quality of service and experience, and cost efficiency. This main contribution of this paper is to complement recent work by focusing on the networking aspect of CR and CC applied to 5G due to the urgent need to investigate, as well as to further enhance, CR and CC as core mechanisms to support 5G. This paper is aspired to establish a foundation and to spark new research interest in this topic. Open research opportunities and platform implementation are also presented to stimulate new research initiatives in this exciting area
Special Topics in Information Technology
This open access book presents thirteen outstanding doctoral dissertations in Information Technology from the Department of Electronics, Information and Bioengineering, Politecnico di Milano, Italy. Information Technology has always been highly interdisciplinary, as many aspects have to be considered in IT systems. The doctoral studies program in IT at Politecnico di Milano emphasizes this interdisciplinary nature, which is becoming more and more important in recent technological advances, in collaborative projects, and in the education of young researchers. Accordingly, the focus of advanced research is on pursuing a rigorous approach to specific research topics starting from a broad background in various areas of Information Technology, especially Computer Science and Engineering, Electronics, Systems and Control, and Telecommunications. Each year, more than 50 PhDs graduate from the program. This book gathers the outcomes of the thirteen best theses defended in 2020-21 and selected for the IT PhD Award. Each of the authors provides a chapter summarizing his/her findings, including an introduction, description of methods, main achievements and future work on the topic. Hence, the book provides a cutting-edge overview of the latest research trends in Information Technology at Politecnico di Milano, presented in an easy-to-read format that will also appeal to non-specialists
Reinforcement Learning and Planning for Preference Balancing Tasks
Robots are often highly non-linear dynamical systems with many degrees of freedom, making solving motion problems computationally challenging. One solution has been reinforcement learning (RL), which learns through experimentation to automatically perform the near-optimal motions that complete a task. However, high-dimensional problems and task formulation often prove challenging for RL. We address these problems with PrEference Appraisal Reinforcement Learning (PEARL), which solves Preference Balancing Tasks (PBTs). PBTs define a problem as a set of preferences that the system must balance to achieve a goal. The method is appropriate for acceleration-controlled systems with continuous state-space and either discrete or continuous action spaces with unknown system dynamics. We show that PEARL learns a sub-optimal policy on a subset of states and actions, and transfers the policy to the expanded domain to produce a more refined plan on a class of robotic problems. We establish convergence to task goal conditions, and even when preconditions are not verifiable, show that this is a valuable method to use before other more expensive approaches. Evaluation is done on several robotic problems, such as Aerial Cargo Delivery, Multi-Agent Pursuit, Rendezvous, and Inverted Flying Pendulum both in simulation and experimentally. Additionally, PEARL is leveraged outside of robotics as an array sorting agent. The results demonstrate high accuracy and fast learning times on a large set of practical applications
A neural network-based trajectory planner for redundant systems using direct inverse modeling
Redundant (i.e., under-determined) systems can not be trained effectively using direct inverse modeling with supervised learning, for reasons well out-lined by Michael Jordan at MIT. There is a loop-hole , however, in Jordan\u27s preconditions, which seems to allow just such an architecture. A robot path planner implementing a cerebellar inspired habituation paradigm with such an architecture will be introduced. The system, called ARTFORMS, for Adaptive Redundant Trajectory Formation System uses on-line training of multiple CMACS. CMACs are locally generalizing networks, and have an a priori deterministic geometric input space mapping. These properties together with on-line learning and rapid convergence satisfy the loop-hole conditions. Issues of stability/plasticity, presentation order and generalization, computational complexity, and subsumptive fusion of multiple networks are discussed.
Two implementations are described. The first is shown not to be goal directed enough for ultimate success. The second, which is highly successful, is made more goal directed by the addition of secondary training, which reduces the dimensionality of the problem by using a set of constraint equations. Running open loop with respect to posture (the system metric which reduces dimensionality) is seen to be the root cause of the first system\u27s failure, not the use of the direct inverse method. In fact, several nice properties of direct inverse modeling contribute to the system\u27s convergence speed, robustness and compliance.
The central problem used to demonstrate this method is the control of trajectory formation for a planar kinematic chain with a variable number of joints.
Finally, this method is extended to implement adaptive obstacle avoidance
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