Many feature tracking algorithms have been proposed for motion segmentation, but the resulting trajectories are not necessarily correct. In this paper, we propose a technique for removing outliers based on the knowledge that correct trajectories are constrained to be in a subspace of their domain. We first fit an appropriate subspace to the detected trajectories using RANSAC and then remove out...

E-Navigation aims to enhance the safety and security of maritime activities by exchanging, integrating and analyzing the data between and in ship-side and shoreside systems. In this paper, we present the main characteristics of our semantic data exchange concept developed in the COSINUS project. In addition to the main task of exchanging data written in a variety of formats between on-board and...

In this paper, we introduce a class of triangulated graphs for algebraic representation of formations that allows us to specify a mission cost for a group of vehicles. This representation plus the navigational information allows us to formally specify and solve tracking problems for groups of vehicles in formations using an optimization-based approach. The approach is illustrated using a collec...

This paper presents a constructive method to design bounded cooperative controllers that force a group of N mobile robots with limited sensing ranges to stabilize at a desired location, and guarantee no collisions between the robots. The control development is based on new general potential functions, which attain the minimum value when the desired formation is achieved, and are equal to infini...

In this paper, we adopt D-type and PD-type learning laws with the initial state of iteration to achieve uniform tracking problem multi-agent systems subjected impulsive input. For system impulse, show that all agents are driven a given asymptotical consensus as number increases via proposed if virtual leader has path any follower agent. Finally, an example is illustrated verify effectiveness by...

A key problem in cooperative control is the convergence to a common value of the systems, which is called the consensus or agreement problem. Among recent results in cooperative control of multi-agent dynamic systems, the method used can be categorized in either graph theory or matrix theory based techniques, and the agent dynamics is either a single/double integrator or a linear system transfo...