This study reviews the current information concerning the measurement of the situation awareness (SA) of the teleoperated drivers of remotely controlled cars. The teleoperated drivers who drive these cars are in a remote location, and they control the cars through a communication interface. The objective methods with probes are beneficial in measuring SA on a closed circuit without real traffic. Questions specifically should address the information provided on the road by haptic sensations, such as the slope of (...) the road and the vehicle's speed. Methods for measuring SA that involve probes and interruptions obviously are not suitable for use on public roads. A stable environment for the display and control of the communication interface is suitable for an eye tracker in measuring SA. These features also facilitate the use of subjective observer-rating methods. Both of these methods are suitable for driving on real roads because they are not intrusive. SA research in a real-road environment also should demonstrate how the SA of other drivers is affected by seeing a car without a driver. Given the remote character of driving, cultural differences in cognition may have a significant influence on the SA of the teleoperated driver. (shrink)

Arming uninhabited vehicles (UVs) is an increasing trend. Widespread deployment can bring dangers for arms-control agreements and international humanitarian law (IHL). Armed UVs can destabilise the situation between potential opponents. Smaller systems can be used for terrorism. Using a systematic definition existing international regulation of armed UVs in the fields of arms control, export control and transparency measures is reviewed; these partly include armed UVs, but leave large gaps. For preventive arms control a general prohibition of armed UVs would (...) be best. If that is unattainable, several measures should be taken. An explicit prohibition of autonomous attack, that is without a human decision, should be added to IHL. Concerning armed UVs remotely controlled by a human soldier, recommendations differ according to type or mission. New kinds of uninhabited nuclear-weapon carriers should be banned. Space weapons should be prohibited in general. UVs smaller than 0.2–0.5 m should be banned. Bigger remotely controlled armed UVs not equipped with weapons of mass destruction should be subject to numerical limitations in various categories. For these the Treaty on Conventional Armed Forces in Europe is an important precedent. (shrink)

Undergirding China’s Belt and Road Initiative’s lofty promise of global connectivity are existing connections between the PRC’s implementation of planetary-scale observation systems for environmental sustainability and the recognizably nefarious policies of localized, colonial surveillance of Turkic minorities in the Xinjiang Uyghur Autonomous Region (XUAR). My article examines how the recently alleged genocide in XUAR becomes the afflicted topos where both the rhetoric and practices of monitoring differently complex systems come together. Such complex connections require a recursive analysis, one which (...) further distinguishes between recursion as an actual technique used in remote sensing and algorithmic processes and recursion as a heuristic in discourses about these computational processes and their effects on controlled populations and territories. This article, following recent interest in the intersections of geopolitics, computational design, digital capitalism and colonialism, argues that the Chinese government’s multipronged investments in environmental sciences-related sensing and imaging technologies do not simply help track its own citizens and foreign populations but also how these groups are increasingly monitored by them. I examine how the Digital Belt and Road’s Science Plan frames the environment, including sovereign territories, peoples, and natural resources as data assets. The rest of my discussion turns away from state-sponsored Earth sciences to examine Anglophone media and human rights groups’ use of satellite imageries and databases to evidence the state’s construction of internment facilities and other surveillance mechanisms in XUAR. Alleged algorithms of oppression enclose the XUAR as a black box of the police state, but digital infographic interfaces like the Xinjiang Data Project, which attempts to expose the PRC’s relegation of Uyghurs to biometric and surveillance data, only furthers a recursive datafication of XUAR. (shrink)

A special road sign bearing the legend of the title greeted visitors to the Stanford Artificial Intelligence Laboratory during the time it was housed in the starship that parked on a Stanford hill from the mid sixties to the mid eighties. The sign, near the periphery of SAIL's grounds, referred to the Stanford Cart, a guerrilla research project near the periphery of John McCarthy 's core interests, but motivated by his desire for autonomous vision-guided automatic cars. In a 1969 (...) essay \cite{JMC69} {\em Computer Controlled Cars}, John suggested that the power of a PDP-10 was adequate for the job. I think John still favors this estimate. John is guided by a strong and principled intuition that has proven itself correct in very many things. But in this paper I will present accumulating experimental evidence that hints that in this one opinion John's intuition misled him by more than a few orders of magnitude. (shrink)

The paper has two goals. The first is presenting the main results of the recent report Ethics of Connected and Automated Vehicles: recommendations on road safety, privacy, fairness, explainability and responsibility written by the Horizon 2020 European Commission Expert Group to advise on specific ethical issues raised by driverless mobility, of which the author of this paper has been member and rapporteur. The second is presenting some broader ethical and philosophical implications of these recommendations, and using these to (...) contribute to the establishment of Ethics of Transportation as an independent branch of applied ethics. The recent debate on the ethics of Connected and Automated Vehicles presents a paradox and an opportunity. The paradox is the presence of a flourishing debate on the ethics of one very specific transportation technology without ethics of transportation being in itself a well-established academic discipline. The opportunity is that now that a spotlight has been switched on the ethical dimensions of CAVs it may be easier to establish a broader debate on ethics of transportation. While the 20 recommendations of the EU report are grouped in three macro-areas: road safety, data ethics, and responsibility, in this paper they will be grouped according to eight philosophical themes: Responsible Innovation, road justice, road safety, freedom, human control, privacy, data fairness, responsibility. These are proposed as the first topics for a new ethics of transportation. (shrink)

Any deviation of speed in a traffic flow from a speed limit represents a potential risk of traffic accidents, so speed management appears as an imperative. However, an inadequately set speed limit often causes drivers’ noncompliance to it in the conditions of real traffic flow. By determining the value of exceeding the speed limit according to vehicle classes, it is possible to recommend a credible speeding value that can be considered credible up to a value above the speed limit. In (...) this paper, deterministic multistep mathematical models of speed deviation from the speed limit as a function of longitudinal gradient for the proposed vehicle classes were developed. A total of 11 measuring sections with different traffic flow types were analyzed. Based on a detailed analysis of speeding, models for the deviation of the 15th, 50th, and 85th percentiles were obtained, with the aim of adjusting the credible deviation to control measures. The results obtained in this study were compared with a survey of traffic flow speeding on two-lane roads conducted in Serbia. (shrink)

In the mining industry, smart surveying and exploration operations for the minerals are essential during mining missions. Usually, these missions are performed in remote areas that do not have a wireless communications infrastructure. This paper proposes to use the unmanned aerial vehicle as a relay communication node between the exploration team and the ground control station. UAV can act as a relay node to provide mobile, flexible, and reliable communication links in remote environments and complex topologies. In this work, the (...) pathloss models in millimeter-wave technology are considered because they provide massive data rates for line of sight scenarios. The optimization problem of identifying a 3D location and trajectory of the UAV relay node is formulated to maximize the total team members’ data rate. Because the problem is non-convex, the particle swarm optimization algorithm is used to solve it and determine an efficient location and trajectory of the UAV. (shrink)

The vehicle suspension system is represented by a complex group of components which connect the wheels to the frame or body. Its primary function is to reduce or absorb various vehicle vibrations generated by road disturbances, providing comfort and safety for passengers. Most modern vehicles have independent, active, or semiactive front and rear suspensions which allow the use of electronic actuation. For this reason, automotive engineers conduct research on the active suspension model to determine the most suitable control (...) algorithm. Three active suspension models are intensely used within simulations: the quarter-car, the half-car, and the full-car models. This paper proposes an adaptive harmonic control for a half-car active suspension system. The mathematical model of the suspension system is implemented in the MATLAB/Simulink environment. The control approach is tested via simulation, and several comparisons with the classical proportional-integral controller are provided. The simulation results show that the controller behaves quite similarly on the half-car model as it did on a quarter-car model. Additionally, an improvement to the harmonic control algorithm has been accomplished. (shrink)

This article investigates three technological developments that are related to spatial determinations and that influence behavior in both the public and the private spheres of life. Examined are the changing relative size of movie screens and their venues, the seeming conflicting dynamic of entertainment and communication screens in the private sphere both increasing and decreasing in size, and the influence of action-at-a-distance technology.

A new powerful military weapon has appeared in the skies of world and with it a new form of warfare has quickly emerged bringing with it a host of pressing ethical questions and issues. Killing By Remote Control: The Ethics of an Unmanned Military brings together some of the best scholars currently working on these questions.

The suspension system is referred to as the set of springs, shock absorbers, and linkages that connect the car to the wheel system. The main purpose of the suspension system is to provide comfort for the passengers, which is created by reducing the effects of road bumpiness. It is worth noting that reducing the effects of such vibrations also diminishes the noise and undesirable sound as well as the effects of fatigue on mechanical parts of the vehicle. Due to (...) the importance of the abovementioned issues, the objective of this article is to reduce such vibrations on the car by implementing an active control method on the suspension system. For this purpose, a conventional first-order sliding mode controller has been designed for stochastic control of the quarter-car model. It is noteworthy that this controller has a significant ability to overcome the stochastic effects, uncertainty, and deal with nonlinear factors. To design a controller, the governing dynamical equation of the quarter-car system has been presented by considering the nonlinear terms in the springs and shock absorber, as well as taking into account the uncertainty factors in the system and the actuator. The design process of the sliding mode controller has been presented and its stability has been investigated in terms of the Lyapunov stability. In the current research, road surface variations are considered as Gaussian white noise. The dynamical system behavior for controlled and uncontrolled situations has been simulated and the extracted results have been presented. Besides, the effects of existing uncertainty in the suspension system and actuator have been evaluated and controller robustness has been checked. Also, the obtained quantitative and qualitative compressions have been presented. Moreover, the effect of controller parameters on the basin of attraction set and its extensiveness has been assessed. The achieved results have indicated the good performance and significant robustness of the designed controller to stabilize the suspension system and mitigate the effects of road bumpiness in the presence of uncertainty and noise factors. (shrink)

Before the passage of the US Immigration Act of 1924, governments of migrant-receiving countries decided whether to admit most prospective immigrants only after they arrived at the border; afterward, the United States and then later other migrant-receiving states required prospective migrants and visitors to apply for visas in their country of residence before coming—an institution that Zolberg has termed “remote control.” Previous scholars wrote about remote control in terms of how it increased the capacity of states to reduce immigration, protect (...) their societies from external threats, and maintain sovereignty, but did not analyze in detail how it did so. Here I analyze three ways through which remote control was a model for a more general revolution in migration control that simultaneously reduced interactions between inhabitants in migrant-receiving societies and those in migrant-sending societies, slowed down the historical reduction of inequality between migrant-sending and migrant-receiving societies, and reduced research and critical awareness within migrant-receiving societies about remote control’s structural impact on societies in general. First, this institution brought more order and precision to the process of individually evaluating prospective visitors. Second, it enabled states to select and define authorized migrants according to their migratory purpose and to force other migrants either to demonstrate enough stamina and strength to enter unauthorized or to die trying. Third, by moving the migrant selection process to migrant-sending societies remote control reduced contact between residents in migrant-receiving societies and prospective migrants in migrant-sending societies. In these three ways, remote control has more generally constrained migratory opportunities and global mobility of individuals between distinct societies. (shrink)

Review of: Killing by Remote Control: The Ethics of an Unmanned Military, edited by Bradley Jay Strawser. Oxford: Oxford University Press, 2013.

Exploring a variety of ways of thinking ethically about drone violence. The violent use of armed, unmanned aircraft is increasing worldwide, but uncertainty persists about the moral status of remote-control killing and why it should be restrained. Practitioners, observers and potential victims of such violence often struggle to reconcile it with traditional expectations about the nature of war and the risk to combatants. Addressing the ongoing policy concern that state use of drone violence is sometimes poorly understood and inadequately governed, (...) the book's ethical assessments are not restricted to the application of traditional Just War principles, but also consider the ethics of artificial intelligence, virtue ethics, and guiding principles for forceful law-enforcement. This edited collection brings together nine original contributions by established and emerging scholars, incorporating expertise in military ethics, critical military studies, gender, history, international law and international relations, in order to better assess the multi-faceted relationship between drone violence and justice. Christian Enemark is Professor of International Relations in the Department of Politics and International Relations at the University of Southampton. (shrink)

How does the use of military drones affect the legal, political, and moral responsibility of different actors involved in their deployment and design? This volume offers a fresh contribution to the ethics of drone warfare by providing, for the first time, a systematic interdisciplinary discussion of different responsibility issues raised by military drones. The book discusses four main sets of questions: First, from a legal point of view, we analyse the ways in which the use of drones makes the attribution (...) of criminal responsibility to individuals for war crimes more complicated and what adjustments may be required in international criminal law and in military practices to avoid ’responsibility gaps’ in warfare. From a moral and political perspective, the volume looks at the conditions under which the use of military drones by states is impermissible, permissible, or even obligatory and what the responsibilities of a state in the use of drones towards both its citizens and potential targets are. From a socio-technical perspective, what kind of new human machine interaction might drones bring and which new kinds of shared agency and responsibility? Finally, we ask how the use of drones changes our conception of agency and responsibility. The book will be of interest to scholars and students in ethics and to those in law, politics and the military involved in the design, deployment and evaluation of military drones. (shrink)

Drone warfare, particularly in the form of targeted killing, has serious legal, moral, and political costs so that a case can be made for an international treaty prohibiting this type of warfare. However, the case would be stronger if it could be shown that killing by drones is inherently immoral. From this angle I explore the moral significance of two features of this technology of killing: the killing is done by remote control with the operators geographically far away from the (...) target zone and the killing is typically the outcome of a long process of surveillance. I argue that remote control killing as such might not be inherently wrong but poses the risks of globalizing conflict and prioritizing troop protection above civilian safety, while the “deadly surveillance” aspect of drone killing makes it most clearly intrinsically wrong. (shrink)

Substance dualism says that all thinking beings are immaterial. This sits awkwardly with the fact that thinking requires an intact brain. Many dualists say that bodily activity is causally necessary for thinking. But if a material thing can cause thinking, why can’t it think? No argument for dualism, however convincing, answers this question, leaving dualists with more to explain than their opponents.

Military drones combine surveillance technology with missile equipment in a far-reaching way. In this article, I argue that military drones could and should be object for a philosophical investigation, referring in particular on Chamayou’s theory of the drone, who also coined the term “an eye turned into a weapon.” Focusing on issues of human self-understanding, agency, and alterity, I examine the intricate human-technology relations in the context of designing and deploying military drones. For that purpose, I am drawing on the (...) postphenomenological approach developed by Don Ihde in order to systematize the manifold aspects of human-technology relations in a four-level model. This inquiry also includes a critical reflection on the normative implications of this technology. In doing so, I do not intent to offer an exhaustive relational ontology of military drones. I rather aim at providing a framework that is able to capture the core dimensions of this technology and their complex interrelations in a systematic way that has been missing in the philosophical debate so far. (shrink)

In the near future, vehicles will gradually gain more autonomous functionalities. Drivers’ activity will be less about driving than about monitoring intelligent systems to which driving action will be delegated. Road safety, therefore, remains dependent on the human factor and we should identify the limits beyond which driver’s functional state (DFS) may no longer be able to ensure safety. Depending on the level of automation, estimating the DFS may have different targets, e.g. assessing driver’s situation awareness in lower (...) levels of automation and his ability to respond to emerging hazard or assessing driver’s ability to monitor the vehicle performing operational tasks in higher levels of automation. Unfitted DFS (e.g., drowsiness) may impact the driver ability respond to taking over abilities. This paper reviews the most appropriate psychophysiological indices in naturalistic driving while considering the DFS through exogenous sensors, providing the more efficient trade-off between reliability and intrusiveness. The DFS also originates from kinematic data of the vehicle, thus providing information that indirectly relates to drivers behaviour. The whole data should be synchronously processed, providing a diagnosis on the DFS, and bringing it to the attention of the decision maker in real time. Next, making the information available can be permanent or intermittent (or even undelivered), and may also depend on the automation level. Such interface can include recommendations for decision support or simply give neutral instruction. Mapping of relevant psychophysiological and behavioural indicators for DFS will enable practitioners and researchers provide reliable estimates, fitted to the level of automation. (shrink)

Internet based process control usage has grown in the past years. Industry field demands were behind this, and it ranges from factory, office and home automation to tasks simplifications and cost reduction. In this book a hardware interface circuit and a software system used to control the temperature and level of a liquid tank is described. The advantage of the designed interface circuit is its simplicity and low cost. The same can be true for the software system in which we (...) used C and Java programs to accomplish the communication. Both C and Java can be obtained freely and the development cost could be small. C language has been used to communicate with the designed interface circuit due to its strength in low level operations and communication with ports and hardware. In Java we have used mainly the Servlet for communication between the Client and the Server, which is a new approach and more reliable approach than the CGI based method that has common problems of speed and data persistence. This book is useful for people and researchers working in the field of control, remote access and computer based control. (shrink)

The relevance of the research is the intensity of noise emitted by lorries depends on the regime of the vehicle movement. One of the main negative factors caused by road vehicles is air pollution with exhaust gases. The article presents results for noise caused by lorries and gas usage while the vehicle is accelerating. The subject of the study is 4 lorries, and they also feature fuel recording systems which are less than 5 years old. Research methodology. The (...) level of noise emitted by heavyweight transport vehicles is measured according to Lithuanian standard LST ISO 1996-2:2008 requirements. During the tests the noise levels of L A,eq, L C,eq, L C,peak were measured. The tests were done 5 times each and the results are presented as arithmetical averages. Fuel consumption is registered in vehicle data registration system. The researched vehicles have to comply with environmental safety normative requirements; that the vehicle carbon monoxide, particulate matter, nitrogen oxides, unburned fuel and other hazardous substances contained in the combustion gases must not exceed the prescribed limits. The results of the experimental studies show that EURO6 lorries noise level is the lowest compared to the EURO4 and EURO5. After carrying out the analysis of the caused noise and gas usage, it was found that noise pollution and gas usage are higher without speed control system. The noise caused by lorries can be described in square polynomial which defines the noise inclination change while vehicle is accelerating. Scientific novelty of the research a complex research on noise and fuel consumption of lorries by using and not using speed control system. Research idea and problem is to achieve sustainable transport development objectives, in particular the reduction of greenhouse gas emissions under the Kyoto Protocol. It is very important to find ways to forecast and reduce transport noise pollution, while also reducing overall pollution, as well as mitigating the impact on the global climate., Conclusion – after conducting a lorry noise and fuel consumption analysis, it was determined that not using speed control system increases the noise and fuel consumption and if the system is used both of these factors decrease drastically. (shrink)

Our hardware is an electric vehicle, remotely controlled over a citizens band radio link by a PDP-KL10. It carries a black and white television camera whose picture is broadcast over a UHF channel, and received and occasionally digitized by the computer. The vehicle has drive motors for the rear wheels, a steering motor coupled to a steering bar arrangement on the front wheels, and a motor controlling the camera pan angle. Each can be commanded to run forward or (...) backward. There is a potentiometer on the steering and pan linkages which enables them to be commanded to point straight ahead. The mechanical arrangements are crude, the motor speeds are unregulated, and there is no feedback to the computer other than the video from the camera. Overall dead reckoning errors are on the order of 30%. Most of the computer controlled runs so far have been with the camera pointed straight ahead and the vehicle moving forward in two foot increments, punctuated by long pauses, during which the images are processed. (shrink)

Intervention studies with developmental samples are difficult to implement, in particular when targeting demographically diverse communities. Online studies have the potential to examine the efficacy of highly scalable interventions aimed at enhancing development, and to address some of the barriers faced by underrepresented communities for participating in developmental research. During the COVID-19 pandemic, we executed a fully remote randomized controlled trial language intervention with third and fourth grade students from diverse backgrounds across the United States. Using this as a (...) case study, we discuss both challenges and solutions to conducting an intensive online intervention through the various phases of the study, including recruitment, data collection, and fidelity of intervention implementation. We provide comprehensive suggestions and takeaways, and conclude by summarizing some important tradeoffs for researchers interested in carrying out such studies. (shrink)

The quality of service of a user in user-centric unmanned aerial vehicle group is degraded by complex cochannel interference; hence, a cooperative game power control algorithm in UUAVG is proposed. The algorithm helps to establish a downlink power control model of the UUAVG, construct a product of the signal to interference noise ratio function of each user as a utility function of the cooperative game, and deduce the optimal power control scheme using the Lagrange function. This scheme reduces the interference (...) of the service unmanned aerial vehicle to edge users and improves the communication quality of all the users as well as the throughput of the entire system. Simulation results show that the average throughput of the CGPC algorithm improved by 10.32% compared with the traditional Stackelberg Game based Nonunified Pricing Power Control algorithm. This shows that the CGPC algorithm can effectively reduce the transmission power of the cooperative UAV and enhance the capacity of the entire system, ensuring communication quality. (shrink)

In this paper, in line with the general framework of value-sensitive design, we aim to operationalize the general concept of “Meaningful Human Control” in order to pave the way for its translation into more specific design requirements. In particular, we focus on the operationalization of the first of the two conditions investigated: the so-called ‘tracking’ condition. Our investigation is led in relation to one specific subcase of automated system: dual-mode driving systems. First, we connect and compare meaningful human control with (...) a concept of control very popular in engineering and traffic psychology, and we explain to what extent tracking resembles and differs from it. This will help clarifying the extent to which the idea of meaningful human control is connected to, but also goes beyond, current notions of control in engineering and psychology. Second, we take the systematic analysis of practical reasoning as traditionally presented in the philosophy of human action and we adapt it to offer a general framework where different types of reasons and agents are identified according to their relation to an automated system’s behaviour. This framework is meant to help explaining what reasons and what agents play a role in controlling a given system, thereby enabling policy makers to produce usable guidelines and engineers to design systems that properly respond to selected human reasons. In the final part, we discuss a practical example of how our framework could be employed in designing automated driving systems. (shrink)

In this paper, we explore and describe what is needed to allow connected and automated vehicles to break traffic rules in order to minimise road safety risk and to operate with appropriate transparency. Reviewing current traffic rules with particular reference to two driving situations, we illustrate why current traffic rules are not suitable for CAVs and why making new traffic rules specifically for CAVs would be inappropriate. In defining an alternative approach to achieving safe CAV driving behaviours, we (...) describe the use of ethical goal functions as part of hybrid AI systems, suggesting that functions should be defined by governmental bodies with input from citizens and stakeholders. Ethical goal functions for CAVs would enable developers to optimise driving behaviours for safety under conditions of uncertainty whilst allowing for differentiation of products according to brand values. Such functions can differ between regions according to preferences for safety behaviours within that region and can be updated over time, responding to continual socio-technological feedback loops. We conclude that defining ethical goal functions is an urgent and necessary step from governmental bodies to enable the safe and transparent operation of CAVs and accelerate the reduction in road casualties they promise to achieve. (shrink)

Arming uninhabited vehicles is an increasing trend. Widespread deployment can bring dangers for arms-control agreements and international humanitarian law. Armed UVs can destabilise the situation between potential opponents. Smaller systems can be used for terrorism. Using a systematic definition existing international regulation of armed UVs in the fields of arms control, export control and transparency measures is reviewed; these partly include armed UVs, but leave large gaps. For preventive arms control a general prohibition of armed UVs would be best. (...) If that is unattainable, several measures should be taken. An explicit prohibition of autonomous attack, that is without a human decision, should be added to IHL. Concerning armed UVs remotely controlled by a human soldier, recommendations differ according to type or mission. New kinds of uninhabited nuclear-weapon carriers should be banned. Space weapons should be prohibited in general. UVs smaller than 0.2–0.5 m should be banned. Bigger remotely controlled armed UVs not equipped with weapons of mass destruction should be subject to numerical limitations in various categories. For these the Treaty on Conventional Armed Forces in Europe is an important precedent. (shrink)

Improving the resilience of urban road networks suffering from various disruptions has been a central focus for urban emergence management. However, to date the effective methods which may mitigate the negative impacts caused by the disruptions, such as road accidents and natural disasters, on urban road networks is highly insufficient. This study proposes a novel adaptive signal control strategy based on a doubly dynamic learning framework, which consists of deep reinforcement learning and day-to-day traffic dynamic learning, to (...) improve the network performance by adjusting red/green time split. In this study, red time split is regarded as extra traffic flow to discourage drivers to use affected roads, so as to reduce congestion and improve the resilience when urban road networks are subject to different levels of disruptions. In addition, we utilize the convolution neural network as Q-network to approximate Q values, link flow distribution and link capacity are regarded as the state space, and actions are denoted as red/green time split. A small network is utilized as a numerical example, and a fixed time signal control and other two adaptive signal controls are employed for the comparisons with the proposed one. The results show that the proposed adaptive signal control based on deep reinforcement learning can achieve better resilience in most of the cases, particularly in the scenarios of moderate and severe disruptions. This study may shed light on the advantages of the proposed adaptive signal control dealing with major emergencies compared to others. (shrink)

This paper investigates the vehicle platoon control problems with both velocity constraints and input saturation. Firstly, radial basis function neural networks are employed to approximate the unknown driving resistance of a vehicle’s dynamic model. Then, a bidirectional topology, where vehicles can only communicate with their direct preceding and following neighbors, is used to depict the relationship among the vehicles in the platoon. On this basis, a neural adaptive sliding-mode control algorithm with an anti-windup compensation technique is proposed to (...) maintain the vehicle platoon with desired distance. Moreover, the string stability and the strong string stability of the whole vehicle platoon are proven through the stability theorem. Finally, numerical simulations verify the feasibility and effectiveness of the proposed control method. (shrink)

The formation control issue for a group of underactuated unmanned surface vehicles is discussed in the paper, and a staged finite-time control strategy for the USVs is proposed. Firstly, we try to steer each USV to its own starting point in the formation for a limited time, under the initial condition that each of these vehicles is parked at random. To deal with the nonholonomic behavior of the system, the dynamics of the USV is transformed into cascade systems. (...) Then, the finite-time controller is designed for each vehicle based on homogeneity theory. After each USV reaches its own starting point with desired orientation, the model of the vehicle is decomposed into two subsystems under the Serret-Frenet frame. In order to maintain the formation pattern, two finite-time distributed controllers are developed for the surge subsystem and the yaw subsystem, respectively. The settling time for the staged control strategy is limited. Numerical simulations are carried out to illustrate the effectiveness of the proposed formation control strategy. (shrink)

The present article deals with an observer design for nonlinear vehicle lateral dynamics. The contributions of the article concern the nonconsideration of any force model and the consideration that the longitudinal velocity is time varying, which is more realistic than the assumption that it is constant. The vehicle model is then represented by an exact Takagi–Sugeno model via the sector nonlinearity transformation. A proportional multiple integral observer based on the TS model is designed to estimate simultaneously the state vector and (...) the unknown input. The convergence conditions of the estimation error are expressed under LMI formulation using the Lyapunov theory, which guaranties a bounded error. Simulations are carried out for comparison between the conventional PI observer, the enhanced PI observer, and the PMI observer. Finally, experimental results are provided to illustrate the performances of the proposed PMI observer. (shrink)