Batch FCM with volume prototypes for clustering high-dimensional datasets with large number of clusters

Vintr, Tomáš; Pastorek, Lukáš; Vintrová, Vanda; Řezanková, Hana

doi:10.1109/nabic.2011.6089625

Cited by 7 publications

(4 citation statements)

References 16 publications

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“…In the future, we would like to overcome these limitations by using more sophisticated map building methods like the ones described in [34], [35]. Moreover, we would like to use publicly available maps instead of the human guided training run.…”

Section: Discussionmentioning

confidence: 99%

A simple visual navigation system for an UAV

Krajník

Nitsche²,

Pedre³

et al. 2012

International Multi-Conference on Systems, Sygnals &Amp; Devices

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Abstract-We present a simple and robust monocular camerabased navigation system for an autonomous quadcopter. The method does not require any additional infrastructure like radio beacons, artificial landmarks or GPS and can be easily combined with other navigation methods and algorithms. Its computational complexity is independent of the environment size and it works even when sensing only one landmark at a time, allowing its operation in landmark poor environments. We also describe an FPGA based embedded realization of the method's most computationally demanding phase.

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Section: Discussionmentioning

confidence: 99%

A simple visual navigation system for an UAV

Krajník

Nitsche²,

Pedre³

et al. 2012

International Multi-Conference on Systems, Sygnals &Amp; Devices

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“…Once the mapping is finished, the robot can autonomously traverse the learned path. Optionally, the gathered map quality might me be enhanced by methods [10], [11].…”

Section: A Ugv Navigationmentioning

confidence: 99%

Cooperative μUAV-UGV autonomous indoor surveillance

Saska

Krajník

Pfeucil

2012

International Multi-Conference on Systems, Sygnals &Amp; Devices

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Abstract-In this paper, we present a heterogenous UGV-UAV system cooperatively solving tasks of periodical surveillance in indoor environments. In the proposed scenario, the UGV is equipped with an interactive helipad and it acts as a carrier of the UAV. The UAV is a light-weight quadro-rotor helicopter equipped with two cameras, which are used to inspect locations inaccessible for the UGV. The paper is focused on the most crucial aspects of the proposed UAV-UGV periodical surveillance that are visual navigation, localization and autonomous landing that need to be done periodically. We propose two concepts of mobile helipads employed for correction of imprecise landing of the UAV. Beside the description of the visual navigation, relative localization and both helipads, a study of landing performance is provided. The performance of the complex system is proven by an experiment of autonomous periodical surveillance in a changing environment with presence of people.

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“…It was mentioned in the introduction that there are problems of clustering using centroid-based clustering methods when there is a different number of objects in clusters and a number of clusters is badly estimated. We propose an initialization method, firstly mentioned in [11], which, if there is the same number of objects in clusters and a number of clusters is well estimated, improves the quality of the clustering.…”

Section: Initializationmentioning

confidence: 99%

Poisson Distribution Based Initialization for Fuzzy Clustering

Vintr¹,

Vintrová²,

Řezanková³

2012

NNW

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Genetic algorithms (GAs) are stochastic methods that are widely used in search and optimization. The breeding process is the main driving mechanism for GAs that leads the way to find the global optimum. And the initial phase of the breeding process starts with parent selection. The selection utilized in a GA is effective on the convergence speed of the algorithm. A GA can use different selection mechanisms for choosing parents from the population and in many applications the process generally depends on the fitness values of the individuals. Artificial neural networks (ANNs) are used to decide the appropriate parents by the new hybrid algorithm proposed in this study. And the use of neural networks aims to produce better offspring during the GA search. The neural network utilized in this algorithm tries to learn the structural patterns and correlations that enable two parents to produce high-fit offspring. In the breeding process, the first parent is selected based on the fitness value as usual. Then it is the neural network that decides the appropriate mate for the first parent chosen. Hence, the selection mechanism is not solely dependent on the fitness values in this study. The algorithm is tested with seven benchmark functions. It is observed from results of these tests that the new selection method leads genetic algorithm to converge faster.

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Batch FCM with volume prototypes for clustering high-dimensional datasets with large number of clusters

Cited by 7 publications

References 16 publications

A simple visual navigation system for an UAV

A simple visual navigation system for an UAV

Cooperative μUAV-UGV autonomous indoor surveillance

Poisson Distribution Based Initialization for Fuzzy Clustering

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Batch FCM with volume prototypes for clustering high-dimensional datasets with large number of clusters

Cited by 7 publications

References 16 publications

A simple visual navigation system for an UAV

A simple visual navigation system for an UAV

Cooperative &#x03BC;UAV-UGV autonomous indoor surveillance

Poisson Distribution Based Initialization for Fuzzy Clustering

Contact Info

Product

Resources

About

Cooperative μUAV-UGV autonomous indoor surveillance