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Relative Precise Positioning based on Moving Baseline and the Effect of Uncommon Satellite Combination |
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Eunyeong Lee, Byungwoon Park(Sejong University, Korea), Hyojung Yoon(Korea Institute of Aviation Safety Technology, Korea), Euiho Kim(Hongik University, Korea) |
| RTK(Real Time Kinematics) method using groudn reference station is generally used for fast and accurate positioning in drone swarm flight. Using the principle of conventional RTK, this paper propose a moving baseline RTK as a method that can perform RTK without using gournd reference station. In this method, RTK is performed by designating one antibody participating in the swarm flight as a moving base and the dynamic of the moving base is compensated through its velocity compensation. |
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Formation Tracking Control Algorithm for Multi-agent Combined with Fast Terminal Sliding Mode Control And Disturbance Observer |
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Daewon Park, Hansol Jeong, Phi Ngoc Nguyen, Sung Kyung Hong(Sejong univ. Korea, Korea) |
| This paper presents a robust formation tracking control algorithm for multi-agent system in a finite time. For faster convergence and less steady state error than the existing formation tracking algorithm, we first propose a fast and robust formation tracking control algorithm by using the fast terminal sliding mode control. Then, a disturbance observer algorithm is added to formation tracking control law to handle external disturbances. The stability of the algorithm is verified by Lyapunov theory. The numerical simulation is proposed to show the effectiveness of proposed method using MATLAB environment. |
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Target State Estimation for UAV’s Target Tracking and Precision Landing Control: Algorithm and Verification System |
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Nguyen Xuan Mung, Jun Yong Lee, Seok Tae Lee, Sung Kyung Hong(Sejong University, Korea) |
| Recently, various research on unmanned aerial vehicles (UAVs) has been carried out to meet the need of a wide range of applications. Among a number of topics undertaken on UAVs, the problems of target tracking and precision landing are the most popular and crucial in many UAVs’ tasks. This paper presents a series of works on target state estimation, which play essential roles in improving the performance of such tasks. First, we introduce an algorithm to estimate the target position with respect to the flying vehicle through an infrared camera and beacon. Next, by using Kalman filter theory, we proposed a method to estimate the velocity of the target from its position information. Finally, u |
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A Study on 3D Virtual Simulator System for Imitation Learning of Mobile Robot |
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Seonghyeon Jo(ETRI, Korea), JunMin Park(Chungnam National University , Korea), Jeyoun dong(Electronics and Telecommunications Research Institute, Korea), Dongyeop Kang, Wookyong Kwon(ETRI, Korea) |
| This paper deal with the system of 3D virtual simulator for imitation learning of mobile robot. The process of the system is composed of 3 processes: teaching by experts, collecting data in demonstration, and learning and reproduction. As a core technology of robot operation, it quickly replaces humans in alternative robot operation. However, robotic teaching and learning are difficult to apply in real environments. To solve this problem, we design and implement a 3D virtual simulator that teaches, learns and reproduces the trajectory of experts. |
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Design of Robust L∞ Observer with Application to Maneuvering Target Tracking |
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Dongyeop Kang, Wookyong Kwon(ETRI, Korea) |
| A condition to synthesize robust L∞ observer for discrete-time linear systems is proposed. The observer gain is obtained by solving LMI(Linear Matrix Inequality) conditions with bounded scalar parameters. Numerical example of maneuvering target tracking is provided to show the effectiveness of the observer design. |
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A Study on Autonomous Navigation in Smart Greenhouse |
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Su-Yong An(ETRI, Korea), Jaeyoung Kim(Institution, Korea) |
| Autonomous navigation of a mobile robot has been practically applied to various industrial fields, such as automobiles, home appliances, smart factories, and modern defense industry. In the agricultural field, it is also an essential prerequisite of robotic tasks including harvesting, crop transportation, unmanned spraying. This paper presents an overview of mobile robot navigation in a greenhouse environment, especially covering 3D point cloud-based rail detection for seamless navigation.
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