7,085 research outputs found

    Robust Modular Feature-Based Terrain-Aided Visual Navigation and Mapping

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    The visual feature-based Terrain-Aided Navigation (TAN) system presented in this thesis addresses the problem of constraining inertial drift introduced into the location estimate of Unmanned Aerial Vehicles (UAVs) in GPS-denied environment. The presented TAN system utilises salient visual features representing semantic or human-interpretable objects (roads, forest and water boundaries) from onboard aerial imagery and associates them to a database of reference features created a-priori, through application of the same feature detection algorithms to satellite imagery. Correlation of the detected features with the reference features via a series of the robust data association steps allows a localisation solution to be achieved with a finite absolute bound precision defined by the certainty of the reference dataset. The feature-based Visual Navigation System (VNS) presented in this thesis was originally developed for a navigation application using simulated multi-year satellite image datasets. The extension of the system application into the mapping domain, in turn, has been based on the real (not simulated) flight data and imagery. In the mapping study the full potential of the system, being a versatile tool for enhancing the accuracy of the information derived from the aerial imagery has been demonstrated. Not only have the visual features, such as road networks, shorelines and water bodies, been used to obtain a position ’fix’, they have also been used in reverse for accurate mapping of vehicles detected on the roads into an inertial space with improved precision. Combined correction of the geo-coding errors and improved aircraft localisation formed a robust solution to the defense mapping application. A system of the proposed design will provide a complete independent navigation solution to an autonomous UAV and additionally give it object tracking capability

    Coherence in Large-Scale Networks: Dimension-Dependent Limitations of Local Feedback

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    We consider distributed consensus and vehicular formation control problems. Specifically we address the question of whether local feedback is sufficient to maintain coherence in large-scale networks subject to stochastic disturbances. We define macroscopic performance measures which are global quantities that capture the notion of coherence; a notion of global order that quantifies how closely the formation resembles a solid object. We consider how these measures scale asymptotically with network size in the topologies of regular lattices in 1, 2 and higher dimensions, with vehicular platoons corresponding to the 1 dimensional case. A common phenomenon appears where a higher spatial dimension implies a more favorable scaling of coherence measures, with a dimensions of 3 being necessary to achieve coherence in consensus and vehicular formations under certain conditions. In particular, we show that it is impossible to have large coherent one dimensional vehicular platoons with only local feedback. We analyze these effects in terms of the underlying energetic modes of motion, showing that they take the form of large temporal and spatial scales resulting in an accordion-like motion of formations. A conclusion can be drawn that in low spatial dimensions, local feedback is unable to regulate large-scale disturbances, but it can in higher spatial dimensions. This phenomenon is distinct from, and unrelated to string instability issues which are commonly encountered in control problems for automated highways.Comment: To appear in IEEE Trans. Automat. Control; 15 pages, 2 figure

    A Review of Traffic Signal Control.

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    The aim of this paper is to provide a starting point for the future research within the SERC sponsored project "Gating and Traffic Control: The Application of State Space Control Theory". It will provide an introduction to State Space Control Theory, State Space applications in transportation in general, an in-depth review of congestion control (specifically traffic signal control in congested situations), a review of theoretical works, a review of existing systems and will conclude with recommendations for the research to be undertaken within this project

    Initiating organizational memories using ontology network analysis

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    One of the important problems in organizational memories is their initial set-up. It is difficult to choose the right information to include in an organizational memory, and the right information is also a prerequisite for maximizing the uptake and relevance of the memory content. To tackle this problem, most developers adopt heavy-weight solutions and rely on a faithful continuous interaction with users to create and improve its content. In this paper, we explore the use of an automatic, light-weight solution, drawn from the underlying ingredients of an organizational memory: ontologies. We have developed an ontology-based network analysis method which we applied to tackle the problem of identifying communities of practice in an organization. We use ontology-based network analysis as a means to provide content automatically for the initial set up of an organizational memory

    On the synthesis of control laws for a network of autonomous agents

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    We study the synthesis problem of a LQR controller when the matrix describing the control law is additionally constrained to lie in a particular vector space. Our motivation is the use of such control laws to stabilize networks of autonomous agents in a decentralized fashion; with the information flow being dictated by the constraints of a pre-specified topology. We formulate the problem as an optimization problem and provide numerical procedures to solve it. Then, we apply the technique to the decentralized vehicle formation control problem and show that the topology can have a significant effect on the optimal cost
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