2,520 research outputs found
L\'evy walks
Random walk is a fundamental concept with applications ranging from quantum
physics to econometrics. Remarkably, one specific model of random walks appears
to be ubiquitous across many fields as a tool to analyze transport phenomena in
which the dispersal process is faster than dictated by Brownian diffusion. The
L\'{e}vy walk model combines two key features, the ability to generate
anomalously fast diffusion and a finite velocity of a random walker. Recent
results in optics, Hamiltonian chaos, cold atom dynamics, bio-physics, and
behavioral science demonstrate that this particular type of random walks
provides significant insight into complex transport phenomena. This review
provides a self-consistent introduction to L\'{e}vy walks, surveys their
existing applications, including latest advances, and outlines further
perspectives.Comment: 50 page
Human Motion Trajectory Prediction: A Survey
With growing numbers of intelligent autonomous systems in human environments,
the ability of such systems to perceive, understand and anticipate human
behavior becomes increasingly important. Specifically, predicting future
positions of dynamic agents and planning considering such predictions are key
tasks for self-driving vehicles, service robots and advanced surveillance
systems. This paper provides a survey of human motion trajectory prediction. We
review, analyze and structure a large selection of work from different
communities and propose a taxonomy that categorizes existing methods based on
the motion modeling approach and level of contextual information used. We
provide an overview of the existing datasets and performance metrics. We
discuss limitations of the state of the art and outline directions for further
research.Comment: Submitted to the International Journal of Robotics Research (IJRR),
37 page
5G mmWave Cooperative Positioning and Mapping Using Multi-Model PHD Filter and Map Fusion
5G millimeter wave (mmWave) signals can enable accurate positioning in vehicular networks when the base station and vehicles are equipped with large antenna arrays. However, radio-based positioning suffers from multipath signals generated by different types of objects in the physical environment. Multipath can be turned into a benefit, by building up a radio map (comprising the number of objects, object type, and object state) and using this map to exploit all available signal paths for positioning. We propose a new method for cooperative vehicle positioning and mapping of the radio environment, comprising a multiple-model probability hypothesis density filter and a map fusion routine, which is able to consider different types of objects and different fields of views. Simulation results demonstrate the performance of the proposed method
On Norm-Based Estimations for Domains of Attraction in Nonlinear Time-Delay Systems
For nonlinear time-delay systems, domains of attraction are rarely studied
despite their importance for technological applications. The present paper
provides methodological hints for the determination of an upper bound on the
radius of attraction by numerical means. Thereby, the respective Banach space
for initial functions has to be selected and primary initial functions have to
be chosen. The latter are used in time-forward simulations to determine a first
upper bound on the radius of attraction. Thereafter, this upper bound is
refined by secondary initial functions, which result a posteriori from the
preceding simulations. Additionally, a bifurcation analysis should be
undertaken. This analysis results in a possible improvement of the previous
estimation. An example of a time-delayed swing equation demonstrates the
various aspects.Comment: 33 pages, 8 figures, "This is a pre-print of an article published in
'Nonlinear Dynamics'. The final authenticated version is available online at
https://doi.org/10.1007/s11071-020-05620-8
Diagnosis of Fault Modes Masked by Control Loops with an Application to Autonomous Hovercraft Systems
This paper introduces a methodology for the design, testing and assessment of incipient failure detection techniques for failing components/systems of an autonomous vehicle masked or hidden by feedback control loops. It is recognized that the optimum operation of critical assets (aircraft, autonomous systems, etc.) may be compromised by feedback control loops by masking severe fault modes while compensating for typical disturbances. Detrimental consequences of such occurrences include the inability to detect expeditiously and accurately incipient failures, loss of control and inefficient operation of assets in the form of fuel overconsumption and adverse environmental impact. We pursue a systems engineering process to design, construct and test an autonomous hovercraft instrumented appropriately for improved autonomy. Hidden fault modes are detected with performance guarantees by invoking a Bayesian estimation approach called particle filtering. Simulation and experimental studies are employed to demonstrate the efficacy of the proposed methods
- …