Informatics in Control, Automation and Robotics (eBook)

Preface 5
Conference Committee 7
Contents 13
Invited Papers 17
Toward Human-Machine Cooperation 18
PART I Intelligent Control Systems and Optimization 37
Planning of Maintenance Operations for a Motorway Operator based upon Multicriteria Evaluations over a Finite Scale and Sensitivity Analyses 38
A Multiple Sensor Fault Detection Method based on Fuzzy Parametric Approach 52
The Shape of a Local Minimum and the Probability of its Detection in Random Search 66
Rapidly-exploring Sorted Random Tree: A Self Adaptive Random Motion Planning Algorithm 78
Applying an Intensification Strategy on Vehicle Routing Problem 90
Detection of Correct Moment to Model Update 102
Robust Optimizers for Nonlinear Programming in Approximate Dynamic Programming 110
PART II Robotics and Automation 123
Improved Positional Accuracy of Robots Nonlinear Friction using a Modified Impulse 124
An Estimation Process for Tire-Road Forces and Sideslip Angle for Automotive Safety Systems 140
SMARTMOBILE and its Applications to Guaranteed Modeling and Simulation of Mechanical Systems 154
Path Planning for Cooperating Unmanned Vehicles over 3-D Terrain 168
Tracking of Manoeuvring Visual Targets 184
Motion Control of an Omnidirectional Mobile Robot 196
A Strategy for Exploration with a Multi-robot System 210
Tracking of Constrained Submarine Robot Arms 222
PART III Signal Processing, Systems Modeling and Control 239
Modelling Robot Dynamics with Masses and Pulleys 240
Stochastic Nonlinear Model Predictive Control based on Gaussian Mixture Approximations 254
The Conjugate Gradient Partitioned Block Frequency-Domain for Multichannel Adaptive Filtering 268
Guaranteed Characterization of Capture Basins of Nonlinear State-Space Systems 280
In Situ Two-Thermocouple Sensor Characterisation using Cross-Relation Blind Deconvolution with Signal Conditioning for Improved Robustness 288
Dirac Mixture Approximation for Nonlinear Stochastic Filtering 302
On the Geometry of Predictive Control with Nonlinear Constraints 316
Author Index 330