Search results for "Robustne"
showing 10 items of 515 documents
A new system architecture for crowd simulation
2009
Crowd simulation requires both rendering visually plausible images and managing the behavior of autonomous agents. Therefore, these applications need an efficient design that allows them to simultaneously handle these two requirements. Although several proposals have focused on the software architectures for these systems, no proposals have focused on the computer systems supporting them. In this paper, we analyze the computer architectures used in the literature to support distributed virtual environments. Also, we propose a distributed computer architecture which is efficient enough to support simulations of thousand of autonomous agents. This proposal consists of a cluster of interconnec…
Efficient information gathering from large wireless sensor networks
2018
Abstract Considering large WSNs and comparing data aggregation approaches in terms of scalability, robustness, completeness, and time/energy effectiveness, recent research has asserted the superiority of serial structure-free approaches over serial structure-based ones, and over both parallel structure-free and parallel structure-based techniques. But, in spite of the fact that serial structure-free approaches excel in large and medium-scale networks, their underlying path-construction algorithms are not optimal and can be improved by reducing the involved communications and further shortening the visiting path. To respond to this need, this paper presents Geometric Serial Search (GSS); a n…
Crowd-Averse Cyber-Physical Systems: The Paradigm of Robust Mean-Field Games
2016
For a networked controlled system, we illustrate the paradigm of robust mean-field games. This is a modeling framework at the interface of differential game theory, mathematical physics, and $H_{\infty}$ - optimal control that tries to capture the mutual influence between a crowd and its individuals. First, we establish a mean-field system for such games including the effects of adversarial disturbances. Second, we identify the optimal response of the individuals for a given population behavior. Third, we provide an analysis of equilibria and their stability.
Constrained consensus for bargaining in dynamic coalitional TU games
2011
We consider a sequence of transferable utility (TU) games where, at each time, the characteristic function is a random vector with realizations restricted to some set of values. We assume that the players in the game interact only with their neighbors, where the neighbors may vary over time. The main contributions of the paper are the definition of a robust (coalitional) TU game and the development of a distributed bargaining protocol. We prove the convergence with probability 1 of the bargaining protocol to a random allocation that lies in the core of the robust game under some mild conditions on the players' communication graphs.
A Kalman Filter Approach for Distinguishing Channel and Collision Errors in IEEE 802.11 Networks
2008
In the last years, several strategies for maximizing the throughput performance of IEEE 802.11 networks have been proposed in literature. Specifically, it has been shown that optimizations are possible both at the medium access control (MAC) layer, and at the physical (PHY) layer. In fact, at the MAC layer, it is possible to minimize the channel waste due to collisions and backoff expiration times, by tuning the minimum contention window as a function of the network congestion level. At the PHY layer, it is possible to improve the transmission robustness, by selecting a suitable modulation/coding scheme as a function of the channel quality perceived by the stations. However, the feasibility…
Automatic Calibration of an Industrial RGB-D Camera Network Using Retroreflective Fiducial Markers
2019
This paper describes a non-invasive, automatic, and robust method for calibrating a scalable RGB-D sensor network based on retroreflective ArUco markers and the iterative closest point (ICP) scheme. We demonstrate the system by calibrating a sensor network comprised of six sensor nodes positioned in a relatively large industrial robot cell with an approximate size of 10 m × 10 m × 4 m . Here, the automatic calibration achieved an average Euclidean error of 3 c m at distances up to 9.45 m . To achieve robustness, we apply several innovative techniques: Firstly, we mitigate the ambiguity problem that occurs when detecting a marker at long range or low resolution by comparing the…
Ownership protection of plenoptic images by robust and reversible watermarking
2018
Abstract Plenoptic images are highly demanded for 3D representation of broad scenes. Contrary to the images captured by conventional cameras, plenoptic images carry a considerable amount of angular information, which is very appealing for 3D reconstruction and display of the scene. Plenoptic images are gaining increasing importance in areas like medical imaging, manufacturing control, metrology, or even entertainment business. Thus, the adaptation and refinement of watermarking techniques to plenoptic images is a matter of raising interest. In this paper a new method for plenoptic image watermarking is proposed. A secret key is used to specify the location of logo insertion. Employing discr…
A Synchronous Reference Frame Robust Predictive Current Control for Three-Phase Grid-Connected Inverters
2010
This paper presents a new predictive current control for three-phase grid-connected inverters in the synchronous reference frame. The control combines a deadbeat control law with a diagonal Luenberger observer to estimate the future value of the grid currents. It provides a decoupled control of the active and reactive power and offers robustness against the computational delay inherent in the digital implementation and against filter and grid-impedance uncertainties. This control exhibits a very fast current response while widely improving the gain and phase margins of the traditional predictive controllers.
A Wavelet approach to extract main features from indirect immunofluorescence images
2019
A number of previous studies have shown that IIF image analysis requires complex and sometimes heterogeneous and diversified methods. Robust solutions can be proposed but they need to orchestrate several methods from low-level analysis up to more complex neural networks or SVM for data classification. The contribution intends to highlight the versatility of Wavelet Transform (WT) and their use in various levels of analysis for the classification of IIF images in order to develop a system capable of performing: image enhancement, ROI segmentation and object classification. Therefore, WT was adopted in the de-noise section, segmentation and classification. This analysis allows frequencies cha…
POLARIZATION-BASED CAR DETECTION
2018
International audience; Road scene understanding is a vital task for driving assistance systems. Robust vehicle detection is a precondition for diverse applications particularly for obstacle avoidance and secure navigation. Color images provide limited information about the physical properties of the object. This results in unstable vehicle detection caused mainly from road scene complexity (strong reflexions, noises and radiometric distortions). Instead, polarimetric images, characteristic of the light wave, can robustly describe important physical properties of the object (e.g., the surface geometric structure, material and roughness etc). This modality gives rich physical informations wh…