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The Automatic Identification System (AIS) is becoming a cornerstone of maritime situational awareness. Nevertheless, AIS suffers the lack of security measures that makes it prone to receiving vessel positions that are unintentionally incorrect, jammed or deliberately falsified. In this work we consider the processing of Time Difference of Arrival measurements from a network of AIS base stations using...
The subject of this paper is the homotopy continuation method (HCM) for solving basic motion planning problems. The validity of the HCM has been demonstrated for driftless control-affine systems belonging to a special class. In this paper, we study the validity of the HCM for control-affine systems with drift. A crucial step in the validation process is to establish a certain sublinear growth condition...
This paper presents an on-line approach for optimizing paths for a pursuit-evasion problem, in which an agent must visit several target positions within an environment while simultaneously avoiding one or more actively-pursuing adversaries. This problem is found in a variety of fields, such as robotic path planning, mobile-sensor applications, and path exposure. The methodology developed utilizes...
Pedestrian counting is widely used in civilian surveillance. In this paper, we present a people counting system which estimates the number of people across multiple cameras with partial overlapping Fields Of Views (FOVs). The main contributions of this paper include: 1) we propose a multi-object detection and tracking method by means of synthesizing the local-feature-level information into object-level...
Application of the network operator for the synthesis of intelligent control systems is considered. An example of the synthesis of automatic control on the space trajectories of unmanned helicopter is given.
A method for generating Cn, n = {1, 2, 3} close to time optimal trajectories, is presented. Therby constraints within the first n+1 derivatives are considered. The trajectory generator is able to perform within a real-time environment. The algorithm makes use of the recursive structure of the problem. The method can be used in the interpretation of hand lever input signals, to generate smooth transition...
The paper studies the problem of making an affine system defined on a polytopic state space reach a prescribed facet of the polytope in finite time without first leaving the polytope. The focus is on solvability by continuous piecewise affine feedback, and we formulate a variant of the problem in which trajectories exit in a monotonic sense. This allows to obtain necessary and sufficient conditions...
We give a simple, explicit example of a two-dimensional polynomial vector field that is globally asymptotically stable but does not admit a polynomial Lyapunov function.
In this work the application of a temporal in-loop filtering approach for B-frames in video compression based on the Temporal Trajectory Filter (TTF) is investigated. The TTF constructs temporal pixel trajectories for individual image points in the P-frames of a video sequence, which can be utilized to improve the quality of the reconstructed frames used for prediction. It is shown, how this concept...
The paper deals with tracking problem for linear multiple-input multiple-output systems under unmeasurable smooth external disturbances. The step-by-step transformation procedure of initial system to block-canonical form of controllability and observability of the output (measurable) variables with regard for the external disturbances was developed based on the block approach. This form underlies...
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