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Escobar, C.; Vargas, F.J.; Peters, A.A.; Carvajal, G. |
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Title |
A Cooperative Control Algorithm for Line and Predecessor Following Platoons Subject to Unreliable Distance Measurements |
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2023 |
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Mathematics |
Abbreviated Journal |
Mathematics |
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11 |
Issue |
4 |
Pages |
801 |
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Keywords |
multi-agent systems; path-following; experimental platform; vehicle platooning; MIMO control |
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Abstract |
This paper uses a line-following approach to study the longitudinal and lateral problems in vehicle platooning. Under this setup, we assume that inter-vehicle distance sensing is unreliable and propose a cooperative control strategy to render the platoon less vulnerable to these sensing difficulties. The proposed control scheme uses the velocity of the predecessor vehicle, communicated through a Vehicle-to-Vehicle technology, to avoid significant oscillations in the local speed provoked by tracking using unreliable local distance measurements. We implement the proposed control algorithm in the RUPU platform, a low-cost experimental platform with wireless communication interfaces that enable the implementation of cooperative control schemes for mobile agent platooning. The experiments show the effectiveness of the proposed cooperative control scheme in maintaining a suitable performance even when subject to temporal distortions in local measurements, which, in the considered experimental setup, arise from losing the line-of-sight of the local sensors in paths with closed curves. |
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2227-7390 |
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WOS:000941648500001 |
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UAI @ alexi.delcanto @ |
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1742 |
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Author |
Vargas-Vera, M.; Nagy, M. |
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Title |
Establishing agent trust for contradictory evidence by means of fuzzy voting model: An ontology mapping case study |
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Year |
2014 |
Publication |
Computers In Human Behavior |
Abbreviated Journal |
Comput. Hum. Behav. |
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30 |
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745-752 |
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Keywords |
Ontology mapping; Semantic Web; Multi-agent systems; Uncertain reasoning |
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This paper introduces a novel trust assessment formalism for contradicting evidence in the context of multi-agent ontology mapping. Evidence combination using the Dempster rule tend to ignore contradictory evidence and the contemporary approaches for managing these conflicts introduce additional computation complexity i.e. increased response time of the system. On the Semantic Web, ontology mapping systems that need to interact with end users in real time cannot afford prolonged computation. In this work, we have made a step towards the formalisation of eliminating contradicting evidence, to utilise the original Dempster's combination rule without introducing additional complexity. Our proposed solution incorporates the fuzzy voting model to the Dempster-Shafer theory. Finally, we present a case study where we show how our approach improves the ontology mapping problem. (C) 2013 Elsevier Ltd. All rights reserved. |
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[Vargas-Vera, Maria] Univ Adolfo Ibanez, Fac Ingn & Ciencias, Ctr Invest Informar & Telecomunicac, Vinia Del Mar, Chile, Email: maria.vargas-vera@uai.cl; |
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Pergamon-Elsevier Science Ltd |
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English |
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0747-5632 |
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WOS:000330090900084 |
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UAI @ eduardo.moreno @ |
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344 |
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