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Localisation Cooperative Robuste De Robots Mobiles Par Mesure Dinter Distance
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Book Synopsis Localisation coopérative robuste de robots mobiles par mesure d'inter-distance by : Cyrille Pierre
Download or read book Localisation coopérative robuste de robots mobiles par mesure d'inter-distance written by Cyrille Pierre and published by . This book was released on 2020 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Il existe de plus en plus d'applications en robotique mobile faisant intervenir plusieurs robots capables de communiquer entre eux et naviguer en coopération. L'objectif de ces travaux est d'exploiter la communication et la détection des robots avoisinants afin de réaliser de la localisation coopérative. Le moyen de détection des robots utilisé ici se base sur la technologie ultra-wideband,permettant d'effectuer des mesures précises de distance entre deux capteurs. L'approche que nous avons développée privilégie la robustesse et l'intégrité des estimations. Elle permet de prendre en compte des scénarios dans lesquels le peu d'information disponible rend la tâche de localisation difficile à gérer pour les robots. Ainsi, notre solution gère deux problématiques importantes de la localisation coopérative par mesure de distance : la corrélation des données échangées entre les robots et la non-linéarité du modèle d'observation des mesures. Pour résoudre ces problématiques, nous avons fait le choix de développer une approche décentralisée dans laquelle l'aspect coopératif est pris en compte par une modélisation particulière des observations de robots. Une observation correspond ici à une mesure de distance avec une balise (représentant un robot ou un objet statique) dont la position est représentée par une distribution normale. Après plusieurs observations successives d'une même balise, la corrélation devient forte entre l'état du robot et la position de la balise observée. Notre approche s'appuie alors sur la méthode de fusion d'un filtre à intersection de covariance partitionné afin d'éviter les problèmes de sur-convergence dus à la corrélation. De plus, les estimations des états des robots sont modélisées par des mixtures de gaussiennes permettant ainsi de représenter au mieux les formes réelles des distributions obtenues après la fusion d'une mesure de distance. Notre algorithme de localisation coopérative a également la particularité de faire évoluer le nombre de particules des mixtures de gaussiennes afin de se ramener à une modélisation équivalente à un filtre gaussien lorsque les conditions le permettent. Le fonctionnement de notre approche de localisation coopérative est présenté grâce à l'étude de quelques situations basiques mettant en évidences différentes caractéristiques de l'algorithme. Le manuscrit se termine par la présentation de trois scénarios de localisation coopérative faisant intervenir plusieurs robots et objets statiques. Les deux premiers exploitent un simulateur réaliste capable de simuler la physique des robots. Le troisième est une expérimentation réelle utilisant une plateforme urbaine dont dispose le laboratoire. L'objectif de ces expérimentations est de montrer que notre approche reste intègre dans les situations les plus difficiles.
Book Synopsis Localisation de robots mobiles en coopération mutuelle par observation d'état distribuée by : Khaoula Lassoued
Download or read book Localisation de robots mobiles en coopération mutuelle par observation d'état distribuée written by Khaoula Lassoued and published by . This book was released on 2016 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: On étudie dans cette thèse des méthodes de localisation coopérative de robots mobiles sans utilisation de mesures extéroceptives relatives, comme des angles ou des distances entre robots. Les systèmes de localisation considérés sont basés sur des mesures de radionavigation sur des balises fixes ou des satellites. Pour ces systèmes, on observe en général un écart entre la position observée et la position réelle. Cet écart systématique (appelé biais) peut être dû à une mauvaise position de la balise ou à une différence entre la propagation réelles des ondes électromagnétiques par rapport aux conditions standard utilisées pour établir les modèles d'observation. L'influence de ce biais sur la localisation des robots est non négligeable. La coopération et l'échange de données entre les robots (estimations des biais, estimations des positions et données proprioceptives) est une approche qui permet de corriger ces erreurs systématiques. La localisation coopérative par échange des estimations est sujette aux problèmes de consanguinité des données qui peuvent engendrer des résultats erronés, en particulier trop confiants. Lorsque les estimations sont utilisées pour la navigation autonome à l'approche, on doit éviter tout risque de collision qui peut mettre en jeu la sécurité des robots et des personnes aux alentours. On doit donc avoir recours à un mécanisme d'intégrité vérifiant que l'erreur commise reste inférieure à une erreur maximale tolérable pour la mission. Dans un tel contexte, il est nécessaire de caractériser des domaines de confiance fiables contenant les positions des robots mobiles avec une forte probabilité. L'utilisation des méthodes ensemblistes à erreurs bornées est considérée alors comme une solution efficace. En effet, ce type d'approche résout naturellement le problème de consanguinité des données et fournit des domaines de confiance fiables. De surcroît, l'utilisation de modèles non-linéaires ne pose aucun problème de linéarisation. Après avoir modélisé un système coopératif de nr robots avec des mesures biaisées sur des balises, une étude d'observabilité est conduite. Deux cas sont considérés selon la nature des mesures brutes des observations. En outre, des conditions d'observabilité sont démontrées. Un algorithme ensembliste de localisation coopérative est ensuite présenté. Les méthodes considérées sont basées sur la propagation de contraintes sur des intervalles et l'inversion ensembliste. La coopération est effectuée grâce au partage des positions estimées, des biais estimés et des mesures proprioceptives.L'échange des estimations de biais permet de réduire les incertitudes sur les positions des robots. Dans un cadre d'étude simple, la faisabilité de l'algorithme est évaluée grâce à des simulations de mesures de distances sur balises en utilisant plusieurs robots. La coopération est comparée aux méthodes non coopératives. L'algorithme coopératif ensembliste est ensuite testé sur des données réelles en utilisant deux véhicules. Les performances de la méthode ensembliste coopérative sont enfin comparées avec deux méthodes Bayésiennes séquentielles, notamment une avec fusion par intersection de covariance. La comparaison est conduite en termes d'exactitude et d'incertitude.
Download or read book Culture: urban future written by UNESCO and published by UNESCO Publishing. This book was released on 2016-12-31 with total page 304 pages. Available in PDF, EPUB and Kindle. Book excerpt: Report presents a series of analyses and recommendations for fostering the role of culture for sustainable development. Drawing on a global survey implemented with nine regional partners and insights from scholars, NGOs and urban thinkers, the report offers a global overview of urban heritage safeguarding, conservation and management, as well as the promotion of cultural and creative industries, highlighting their role as resources for sustainable urban development. Report is intended as a policy framework document to support governments in the implementation of the 2030 Agenda for Sustainable Urban Development and the New Urban Agenda.
Author :Maria-Gabriella Di Benedetto Publisher :Hindawi Publishing Corporation ISBN 13 :9775945100 Total Pages :513 pages Book Rating :4.7/5 (759 download)
Book Synopsis UWB Communication Systems by : Maria-Gabriella Di Benedetto
Download or read book UWB Communication Systems written by Maria-Gabriella Di Benedetto and published by Hindawi Publishing Corporation. This book was released on 2006 with total page 513 pages. Available in PDF, EPUB and Kindle. Book excerpt: Ultrawideband (UWB) communication systems offer an unprecedented opportunityto impact the future communication world. The enormous available bandwidth, the wide scope of the data rate / rangetrade-off, as well as the potential for very low-cost operation leading topervasive usage, all present a unique opportunity for UWB systems to impactthe way people and intelligent machines communicate and interact with theirenvironment. The aim of this book is to provide an overview of the state of the art of UWBsystems from theory to applications. Due to the rapid progress of multidisciplinary UWB research, such an overviewcan only be achieved by combining the areas of expertise of severalscientists in the field. More than 30 leading UWB researchers and practitioners have contributed tothis book covering the major topics relevant to UWB. These topics includeUWB signal processing, UWB channel measurement and modeling, higher-layerprotocol issues, spatial aspects of UWB signaling, UWB regulation andstandardization, implementation issues, and UWB applications as well aspositioning. The book is targeted at advanced academic researchers, wireless designers, and graduate students wishing to greatly enhance their knowledge of allaspects of UWB systems
Book Synopsis Wireless Information Networks by : Kaveh Pahlavan
Download or read book Wireless Information Networks written by Kaveh Pahlavan and published by John Wiley & Sons. This book was released on 2005-11-07 with total page 742 pages. Available in PDF, EPUB and Kindle. Book excerpt: Towards location aware mobile ad hoc sensors A Systems Engineering Approach to Wireless Information Networks The Second Edition of this internationally respected textbook brings readers fully up to date with the myriad of developments in wireless communications. When first published in 1995, wireless communications was synonymous with cellular telephones. Now wireless information networks are the most important technology in all branches of telecommunications. Readers can learn about the latest applications in such areas as ad hoc sensor networks, home networking, and wireless positioning. Wireless Information Networks takes a systems engineering approach: technical topics are presented in the context of how they fit into the ongoing development of new systems and services, as well as the recent developments in national and international spectrum allocations and standards. The authors have organized the myriad of current and emerging wireless technologies into logical categories: * Introduction to Wireless Networks presents an up-to-the-moment discussion of the evolution of the cellular industry from analog cellular technology to 2G, 3G, and 4G, as well as the emergence of WLAN and WPAN as broadband ad hoc networks * Characteristics of Radio Propagation includes new coverage of channel modeling for space-time, MIMO, and UWB communications and wireless geolocation networks * Modem Design offers new descriptions of space-time coding, MIMO antenna systems, UWB communications, and multi-user detection and interference cancellation techniques used in CDMA networks * Network Access and System Aspects incorporates new chapters on UWB systems and RF geolocations, with a thorough revision of wireless access techniques and wireless systems and standards Exercises that focus on real-world problems are provided at the end of each chapter. The mix of assignments, which includes computer projects and questionnaires in addition to traditional problem sets, helps readers focus on key issues and develop the skills they need to solve actual engineering problems. Extensive references are provided for those readers who would like to explore particular topics in greater depth. With its emphasis on knowledge-building to solve problems, this is an excellent graduate-level textbook. Like the previous edition, this latest edition will also be a standard reference for the telecommunications industry.
Book Synopsis CIKM'13 by : CIKM 13 Conference Committee
Download or read book CIKM'13 written by CIKM 13 Conference Committee and published by . This book was released on 2013-10-27 with total page 938 pages. Available in PDF, EPUB and Kindle. Book excerpt: CIKM'13: 22nd ACM International Conference on Information and Knowledge Management Oct 27, 2013-Nov 01, 2013 San Francisco, USA. You can view more information about this proceeding and all of ACM�s other published conference proceedings from the ACM Digital Library: http://www.acm.org/dl.
Book Synopsis Philostratus by : Philostratus (the Athenian)
Download or read book Philostratus written by Philostratus (the Athenian) and published by . This book was released on 1912 with total page 280 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Routledge International Handbook of Ignorance Studies by : Matthias Gross
Download or read book Routledge International Handbook of Ignorance Studies written by Matthias Gross and published by Routledge. This book was released on 2015-05-15 with total page 427 pages. Available in PDF, EPUB and Kindle. Book excerpt: Once treated as the absence of knowledge, ignorance today has become a highly influential topic in its own right, commanding growing attention across the natural and social sciences where a wide range of scholars have begun to explore the social life and political issues involved in the distribution and strategic use of not knowing. The field is growing fast and this handbook reflects this interdisciplinary field of study by drawing contributions from economics, sociology, history, philosophy, cultural studies, anthropology, feminist studies, and related fields in order to serve as a seminal guide to the political, legal and social uses of ignorance in social and political life. Chapter 33 of this book is freely available as a downloadable Open Access PDF under a Creative Commons Attribution-Non Commercial-No Derivatives 4.0 license available here: https://tandfbis.s3-us-west-2.amazonaws.com/rt-files/docs/Open+Access+Chapters/9780415718967_oachapter33.pdf
Book Synopsis The Last Billion Years by : Atlantic Geoscience Society
Download or read book The Last Billion Years written by Atlantic Geoscience Society and published by Nimbus Publishing (CN). This book was released on 2001 with total page 220 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is about the history of the rocks and fossils of the Maritime Provinces of Canada (New Brunswick, Nova Scotia and PEI) over the last billion years. The book is beautifully illustrated in full colour, with original paintings of ancient vistas, over 150 photographs, and crisp explanatory diagrams and sketches.
Book Synopsis Air-conditioning and Refrigeration Equipment by :
Download or read book Air-conditioning and Refrigeration Equipment written by and published by . This book was released on 1988 with total page 12 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Africa's Critical Choices by : Dunod Editeur
Download or read book Africa's Critical Choices written by Dunod Editeur and published by Europa Regional Perspectives. This book was released on 2019 with total page 98 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume examines contemporary Africa, a vast continent which, while entering the era of globalization, is also confronted by a number of issues, including the environment and climate change, demographics, trade issues, internal and external migration, education, economic Issues, governance, and the influence of other countries. Written by former Prime Minister of Niger and current Chief Executive Officer of the Secretariat of the New Partnership for Africa's Development (NEPAD), Dr Ibrahim Assane Mayaki, this book offers an overview of Africa, and looks to the next generation of leaders in the continent, aiming to offer a manifesto for future change.
Book Synopsis Tourism and Culture Synergies by : World Tourism Organization (Unwto)
Download or read book Tourism and Culture Synergies written by World Tourism Organization (Unwto) and published by World Tourism Organization. This book was released on 2018 with total page 158 pages. Available in PDF, EPUB and Kindle. Book excerpt: This report highlights the relationship between tourism and culture and the interdependency of the two sectors. The report, based on a UNWTO survey, affirms that cultural tourism plays a major role in global tourism. It also reveals that the sector transformed lifestyles, created new culture forms and enhanced innovation in technology.
Download or read book Creating Futures written by Michel Godet and published by . This book was released on 2006 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Analecta: Or, Materials For a History of Remarkable Providences; Mostly Relating to Scotch Ministers and Christians by : Robert Wodrow
Download or read book Analecta: Or, Materials For a History of Remarkable Providences; Mostly Relating to Scotch Ministers and Christians written by Robert Wodrow and published by BoD – Books on Demand. This book was released on 2024-05-25 with total page 410 pages. Available in PDF, EPUB and Kindle. Book excerpt: Reprint of the original, first published in 1842.
Book Synopsis Digital Transformation in Financial Services by : Claudio Scardovi
Download or read book Digital Transformation in Financial Services written by Claudio Scardovi and published by Springer. This book was released on 2017-09-04 with total page 242 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book analyzes the set of forces driving the global financial system toward a period of radical transformation and explores the transformational challenges that lie ahead for global and regional or local banks and other financial intermediaries. It is explained how these challenges derive from the newly emerging post-crisis structure of the market and from shadow and digital players across all banking operations. Detailed attention is focused on the impacts of digitalization on the main functions of the financial system, and particularly the banking sector. The author elaborates how an alternative model of banking will enable banks to predict, understand, navigate, and change the external ecosystem in which they compete. The five critical components of this model are data and information mastering; effective use of applied analytics; interconnectivity and “junction playing”; development of new business solutions; and trust and credibility assurance. The analysis is supported by a number of informative case studies. The book will be of interest especially to top and middle managers and employees of banks and financial institutions but also to FinTech players and their advisers and others.
Book Synopsis Memory Evolutive Systems; Hierarchy, Emergence, Cognition by : A C Ehresmann
Download or read book Memory Evolutive Systems; Hierarchy, Emergence, Cognition written by A C Ehresmann and published by Elsevier. This book was released on 2007-05-25 with total page 403 pages. Available in PDF, EPUB and Kindle. Book excerpt: Memory Evolutive Systems; Hierarchy, Emergence, Cognition provides comprehensive and comprehensible coverage of Memory Evolutive Systems (MEM). Written by the developers of the MEM, the book proposes a mathematical model for autonomous evolutionary systems based on the Category Theory of mathematics. It describes a framework to study and possibly simulate the structure of living systems and their dynamic behavior. This book contributes to understanding the multidisciplinary interfaces between mathematics, cognition, consciousness, biology and the study of complexity. It is organized into three parts. Part A deals with hierarchy and emergence and covers such topics as net of interactions and categories; the binding problem; and complexifications and emergence. Part B is about MEM while Part C discusses MEM applications to cognition and consciousness. The book explores the characteristics of a complex evolutionary system, its differences from inanimate physical systems, and its functioning and evolution in time, from its birth to its death. This book is an ideal reference for researchers, teachers and students in pure mathematics, computer science, cognitive science, study of complexity and systems theory, Category Theory, biological systems theory, and consciousness theory. It would also be of interest to both individuals and institutional libraries. - Comprehensive and comprehensible coverage of Memory Evolutive System - Written by the developers of the Memory Evolutive Systems - Designed to explore the common language between sciences
Book Synopsis Hodge Theory and Complex Algebraic Geometry II: by : Claire Voisin
Download or read book Hodge Theory and Complex Algebraic Geometry II: written by Claire Voisin and published by Cambridge University Press. This book was released on 2007-12-20 with total page 362 pages. Available in PDF, EPUB and Kindle. Book excerpt: The second volume of this modern account of Kaehlerian geometry and Hodge theory starts with the topology of families of algebraic varieties. The main results are the generalized Noether-Lefschetz theorems, the generic triviality of the Abel-Jacobi maps, and most importantly, Nori's connectivity theorem, which generalizes the above. The last part deals with the relationships between Hodge theory and algebraic cycles. The text is complemented by exercises offering useful results in complex algebraic geometry. Also available: Volume I 0-521-80260-1 Hardback $60.00 C