Searched for: author%3A%22Liu%2C+Di%22
(1 - 12 of 12)
document
Baldi, S. (author), Roy, Spandan (author), Yang, Kang (author), Liu, Di (author)
Effective design of autopilots for fixed-wing unmanned aerial vehicles (UAVs) is still a great challenge, due to unmodeled effects and uncertainties that these vehicles exhibit during flight. Unmodeled effects and uncertainties comprise longitudinal/lateral cross-couplings, as well as poor knowledge of equilibrium points (trimming points) of...
journal article 2022
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Li, Peng (author), Liu, Di (author), Baldi, S. (author)
Adaptive integral sliding mode control (AISMC) is an extension of adaptive sliding mode control which is a way to ensure sliding motion while handling system uncertainties. However, conventional AISMC formulations require to different extent a priori knowledge of the system uncertainty: either the upper bound of the uncertainty or of its time...
journal article 2022
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Baldi, S. (author), Sun, Danping (author), Xia, Xin (author), Zhou, Guopeng (author), Liu, Di (author)
This article presents an adaptive method for ArduPilot-based autopilots of fixed-wing unmanned aerial vehicles (UAVs). ArduPilot is a popular open-source unmanned vehicle software suite. We explore how to augment the PID loops embedded inside ArduPilot with a model-free adaptive control method. The adaptive augmentation, adopted for both...
journal article 2022
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Li, Peng (author), Liu, Di (author), Xia, Xin (author), Baldi, S. (author)
The operation of Unmanned Aerial Vehicles (UAVs) is often subject to state-dependent alterations and unstructured uncertainty factors, such as unmodelled dynamics, environmental weather disturbances, aerodynamics gradients, or changes in inertia and mass due to payloads. While a large number of autopilot solutions have been proposed to operate...
conference paper 2022
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Liu, Di (author), Baldi, S. (author), Yu, Wenwu (author), Chen, C. L.P. (author)
The broad learning system (BLS) paradigm has recently emerged as a computationally efficient approach to supervised learning. Its efficiency arises from a learning mechanism based on the method of least-squares. However, the need for storing and inverting large matrices can put the efficiency of such mechanism at risk in big-data scenarios....
journal article 2022
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Liu, Di (author), Besselink, Bart (author), Baldi, S. (author), Yu, Wenwu (author), Trentelman, Harry L. (author)
Despite the progress in the field of longitudinal formations of automated vehicles, only recently an interpretation of longitudinal platooning has been given in the framework of disturbance decoupling, i.e. the problem of making a controlled output independent of a disturbance. The appealing feature of this interpretation is that the...
journal article 2022
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Baldi, S. (author), Zhang, Z. (author), Liu, Di (author)
We propose a new reinforcement learning method in the framework of Recursive Least Squares-Temporal Difference (RLS-TD). Instead of using the standard mechanism of eligibility traces (resulting in RLS-TD((Formula presented.))), we propose to use the forgetting factor commonly used in gradient-based or least-square estimation, and we show that...
journal article 2022
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Chen, Hang (author), Zhou, Hengshun (author), Du, Jun (author), Lee, Chin-Hui (author), Chen, Jingdong (author), Watanabe, Shinji (author), Siniscalchi, Sabato Marco (author), Scharenborg, O.E. (author), Liu, Di-Yuan (author)
In this paper we discuss the rational of the Multi-model Information based Speech Processing (MISP) Challenge, and provide a detailed description of the data recorded, the two evaluation tasks and the corresponding baselines, followed by a summary of submitted systems and evaluation results. The MISP Challenge aims at tack-ling speech processing...
conference paper 2022
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Liu, Zhengqiang (author), Liu, Di (author), Yu, Wenwu (author), Baldi, S. (author)
In recent years, platooning solutions like cooperative adaptive cruise control (CACC) have been deeply studied. It is common in such platooning literature to assume that the vehicles drive on the same lane (longitudinal platooning). At the same time, lateral control during merging maneuvers is commonly addressed as a path planning problem, in...
conference paper 2022
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Jain, V. (author), Liu, Di (author), Baldi, S. (author)
While several synchronization-based protocols have been provided for formation-keeping of cooperative vehicles, the problem of synchronized merging is more challenging. Challenges associated to the merging scenario include the need for establishing bidirectional interaction (in place of unidirectional look-ahead interaction), and the need for...
journal article 2021
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Liu, Di (author), Baldi, S. (author), Jain, V. (author), Yu, Wenwu (author), Frasca, Paolo (author)
Recently proposed adaptive platooning strategies for connected automated vehicles are able to cope with uncertain vehicle parameters (uncertain driveline time constants), but can handle only acyclic graphs like look-ahead graphs. This prevents from enhancing platooning protocols with synchronized merging maneuvers, where cyclic communication...
journal article 2021
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Baldi, S. (author), Liu, Di (author), Jain, V. (author), Yu, Wenwu (author)
In adaptive platooning strategies proposed in literature to handle uncertain and nonidentical uncertain vehicle dynamics (uncertain heterogeneous platoons) two aspects requiring proper design are neglected: bidirectional interaction among vehicles which might lead to loss of string stability, and engine saturation constraints which might lead...
journal article 2021
Searched for: author%3A%22Liu%2C+Di%22
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