This paper presents a tuned behavior-based guidance algorithm for formation flight of quadrotors. The behavior-based approach provides the basis for the simultaneous realization of different behaviors such as leader following and obstacle avoidance for a group of agents; in our case they are quadcopters. In this paper optimization techniques are utilized to tune the parameters of a behavior-bas...

In recent years, soft computing methods have generated a large research interest. The synthesis of the fuzzy logic and the evolutionary algorithms is one of these methods. A particular evolutionary algorithm (EA) is differential evolution (DE). As for any EA, DE algorithm also requires parameters tuning to achieve desirable performance. In this paper tuning the perturbation factor vector of DE ...

We extend position and phase-shift tuning, concepts already well established in the disparity energy neuron literature, to motion energy neurons. We show that Reichardt-like detectors can be considered examples of position tuning, and that motion energy filters whose complex valued spatio-temporal receptive fields are space-time separable can be considered examples of phase tuning. By combining...

Design and implementation of applications comprise an anticipation of what increased performance requirements might occur in future. However this is not a simple thing to do and resources are limited. Thus in practice it happens, that after some time of operation an application no more meets the increased performance requirements. Sometimes it turns out that the application has to be retired an...

This paper addresses the problem of position tracking control of robot manipulators in the presence of parametric uncertainty and additive periodic disturbances. Specifically, a self tuning, Lyapunov-based adaptive controller with desired dynamics compensation term and a disturbance estimator has been designed to ensure that the link position tracking error converges to zero asymptotically, des...

Monitoring is an essential process to observe and improve the reliability and the performance of large-scale distributed multimedia (LDM) systems. Monitoring events generated by LDM systems is necessary for observing the run-time behavior of LDM systems and providing status information required for managing such applications. However, correlated events are generated concurrently and could be di...