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Institute for Robotics and Intelligent Machines (IRIM)

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Author: Zhang, Fumin × Start date: 2000 × search.filters.applied.f.isOrgUnitOfPublicationTitle: School of Electrical and Computer Engineering ×

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Now showing 1 - 6 of 6
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    An Analytical Model of the CAN Bus for Online Schedulability Test
    (Georgia Institute of Technology, 2012-12-04) Shi, Zhenwu ; Zhang, Fumin
    Controller area network (CAN) is a prioritybased bus that supports real-time communication. Existing schedulability analysis for the CAN bus is peformed at the design stage, by assuming that all message information is known in advance. However, in pratice, the CAN bus may run in a dynamic environment, where complete specifications may not be available at the design stage and operational requirements may change at system run-time. In this paper, we develop an analytical model that describes the dynamics of message transmission on the CAN bus. Based on this analytical timing model, we then propose an online test that effectively checks the schedulability of the CAN bus, in the presence of online adjustments of message streams. Simulations show that the online test can accurately report the loss of scheduability on the CAN bus.
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    Intruder Capturing Game on a Topological Map Assisted by Information Networks
    (Georgia Institute of Technology, 2011-12) Kim, Jonghoek ; Maxon, Sean ; Egerstedt, Magnus B. ; Zhang, Fumin
    Intruder capturing games on a topological map of a workspace with obstacles are investigated. Assuming that a searcher can access the position of any intruder utilizing information networks, we provide theoretical upper bounds for the minimum number of searchers required to capture all intruders on a Voronoi graph. Intruder capturing algorithms are proposed and demonstrated through an online computer game.
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    Cooperative Exploration of Level Surfaces of Three Dimensional Scalar Fields
    (Georgia Institute of Technology, 2011) Wu, W. ; Zhang, Fumin
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    Steady three dimensional gliding motion of an underwater glider
    (Georgia Institute of Technology, 2011) Zhang, Shaowei ; Yu, Jiancheng ; Zhang, Aiqun ; Zhang, Fumin
    Underwater Gliders have found broad applications in ocean sampling. In this paper, the nonlinear dynamic model of the glider developed by the Shenyang Institute of Automation, Chinese Academy of Sciences, is established. Based on this model, we solve for the parameters that characterize steady state spiraling motions of the glider. A set of nonlinear equations are simplified so that a recursive algorithm can be used to find the solutions.
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    A provably complete exploration strategy by constructing Voronoi diagrams
    (Georgia Institute of Technology, 2010) Kim, Jonghoek ; Zhang, Fumin ; Egerstedt, Magnus B.
    We present novel exploration algorithms and a control law that enables the construction of Voronoi diagrams over unknown areas using a single vehicle equipped with range sensors. The control law uses range measurements to make the vehicle track Voronoi edges between obstacles. The exploration algorithms make decisions at vertices in the Voronoi diagram to expand the explored area until a complete Voronoi diagram is constructed in finite time. Our exploration algorithms are provably complete, and the convergence of the control law is guaranteed. Simulations and experimental results are provided to demonstrate the effectiveness of both the control law and the exploration algorithms.
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    Simultaneous Cooperative Exploration and Networking Based on Voronoi Diagrams
    (Georgia Institute of Technology, 2009) Kim, Jonghoek ; Zhang, Fumin ; Egerstedt, Magnus B.
    We develop a strategy that enables multiple intelligent vehicles to cooperatively explore complex territories. Every vehicle deploys communication devices and expands an information network while constructing a topological map based on Voronoi diagrams. As the information network weaved by each vehicle grows, intersections eventually happen so that the topological maps are shared. This allows for distributed vehicles to share information with other vehicles that have also deployed communication devices. Our exploration algorithms are provably complete under mild technical assumptions. A performance analysis of the algorithms shows that in a bounded workspace, the time spent to complete the exploration decreases as the number of vehicles increases. We further provide an analytical formula for this relationship. Time efficiency of the algorithms is demonstrated in MATLAB simulation.