Bibliographies thématiques / Multi-bernoulli

Littérature scientifique sur le sujet « Multi-bernoulli »

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Publié le 10 mars 2023

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Articles de revues sur le sujet "Multi-bernoulli"

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Ouyang, C., C. Li et H. Ji. « Improved multi-target multi-Bernoulli filter ». IET Radar, Sonar & ; Navigation 6, no 6 (1 juillet 2012) : 458–64. http://dx.doi.org/10.1049/iet-rsn.2011.0377.

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Vo, Ba-Tuong, Ba-Ngu Vo, Reza Hoseinnezhad et Ronald P. S. Mahler. « Robust Multi-Bernoulli Filtering ». IEEE Journal of Selected Topics in Signal Processing 7, no 3 (juin 2013) : 399–409. http://dx.doi.org/10.1109/jstsp.2013.2252325.

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Li, Shijie, et Humin Lei. « Measurement-Driven Multi-Target Multi-Bernoulli Filter ». Mathematical Problems in Engineering 2018 (22 juillet 2018) : 1–9. http://dx.doi.org/10.1155/2018/6515608.

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A measurement-driven multi-target multi-Bernoulli (MeMBer) filter which modifies the MeMBer filter by the measurements information is proposed in this paper. The proposed filter refines both the legacy estimates and the data-induced estimates of the MeMBer filter. For the targets under the legacy track set, the detection probabilities derived from the measurements are employed to refine the multi-target distribution. And for the targets under the data-induced track set, the multi-target distribution is further improved by the modified existence probabilities of the legacy tracks. Unlike the cardinality balanced MeMBer (CBMeMBer) filter, the proposed filter removes the cardinality bias in the MeMBer filter by utilizing the measurements information. Simulation results show that, compared with the traditional methods, the proposed filter can improve the stability and accuracy of the estimates and does not need the high detection probability hypothesis.
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Li, Dong, Chenping Hou et Dongyun Yi. « Multi-Bernoulli smoother for multi-target tracking ». Aerospace Science and Technology 48 (janvier 2016) : 234–45. http://dx.doi.org/10.1016/j.ast.2015.11.017.

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Saucan, Augustin-Alexandru, Mark J. Coates et Michael Rabbat. « A Multisensor Multi-Bernoulli Filter ». IEEE Transactions on Signal Processing 65, no 20 (15 octobre 2017) : 5495–509. http://dx.doi.org/10.1109/tsp.2017.2723348.

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Garcia-Fernandez, Angel F., Lennart Svensson, Jason L. Williams, Yuxuan Xia et Karl Granstrom. « Trajectory Poisson Multi-Bernoulli Filters ». IEEE Transactions on Signal Processing 68 (2020) : 4933–45. http://dx.doi.org/10.1109/tsp.2020.3017046.

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YUAN, Changshun, Jun WANG, Peng LEI et Jinping SUN. « Adaptive Multi-Bernoulli Filter Without Need of Prior Birth Multi-Bernoulli Random Finite Set ». Chinese Journal of Electronics 27, no 1 (1 janvier 2018) : 115–22. http://dx.doi.org/10.1049/cje.2017.10.010.

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Zhu, Yun, Jun Wang et Shuang Liang. « Multi-Objective Optimization Based Multi-Bernoulli Sensor Selection for Multi-Target Tracking ». Sensors 19, no 4 (25 février 2019) : 980. http://dx.doi.org/10.3390/s19040980.

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This paper presents a novel multi-objective optimization based sensor selection method for multi-target tracking in sensor networks. The multi-target states are modelled as multi-Bernoulli random finite sets and the multi-Bernoulli filter is used to propagate the multi-target posterior density. The proposed method is designed to select the sensor that provides the most reliable cardinality estimate, since more accurate cardinality estimate indicates more accurate target states. In the multi-Bernoulli filter, the updated multi-target density is a multi-Bernoulli random finite set formed by a union of legacy tracks and measurement-updated tracks. The legacy track and the measurement-updated track have different theoretical and physical meanings, and hence these two kinds of tracks are considered separately in the sensor management problem. Specifically, two objectives are considered: (1) maximizing the mean cardinality of the measurement-updated tracks, (2) minimizing the cardinality variance of the legacy tracks. Considering the conflicting objectives simultaneously is a multi-objective optimization problem. Tradeoff solutions between two conflicting objectives will be derived. Theoretical analysis and examples show that the proposed approach is effective and direct. The performance of the proposed method is demonstrated using two scenarios with different levels of observability of targets in the passive sensor network.
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Zhang, Zijing, Fei Zhang et Chuantang Ji. « Multi-robot cardinality-balanced multi-Bernoulli filter simultaneous localization and mapping method ». Measurement Science and Technology 33, no 3 (23 décembre 2021) : 035101. http://dx.doi.org/10.1088/1361-6501/ac3784.

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Abstract In order to improve the simultaneous localization and mapping (SLAM) accuracy of mobile robots in complex indoor environments, the multi-robot cardinality-balanced multi-Bernoulli filter SLAM (MR-CBMber-SLAM) method is proposed. First of all, this method introduces a multi-Bernoulli filter based on the random finite set (RFS) theory to solve the complex data association problem. This method aims to overcome the problem that the multi-Bernoulli filter will overestimate the aspect of SLAM map feature estimation, and combines the strategy of balancing cardinality with a multi-Bernoulli filter. What is more, in order to further improve the accuracy and operating efficiency of SLAM, a multi-robot strategy and a multi-robot Gaussian information-fusion method are proposed. In the experiment, the MR-CBMber-SLAM method is compared with the multi-vehicle probability hypothesis density SLAM (MV-PHD-SLAM) method. The experimental results show that the MR-CBMber-SLAM method is better than MV-PHD-SLAM method. Therefore, it effectively verifies that the MR-CBMber-SLAM method is more adaptable to a complex indoor environment.
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Kim, Taekyun, et Dae Kim. « A note on degenerate multi-poly-Bernoulli numbers and polynomials ». Applicable Analysis and Discrete Mathematics, no 00 (2022) : 5. http://dx.doi.org/10.2298/aadm200510005k.

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In this paper, we consider the degenerate multi-poly-Bernoulli numbers and polynomials which are defined by means of the multiple polylogarithms and degenerate versions of the multi-poly-Bernoulli numbers and polynomials. We investigate some properties for those numbers and polynomials. In addition, we give some identities and relations for the degenerate multi-poly- Bernoulli numbers and polynomials.
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Thèses sur le sujet "Multi-bernoulli"

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Sam, Rosidah. « A novel, flexible, multi-functional handling device based on Bernoulli Principle ». Thesis, University of Salford, 2010. http://usir.salford.ac.uk/26891/.

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Food handling sector in food industry has increased rapidly over the last years. A higher production rate together with continuously growing product assortments put new requirements for the food producers such as improving production efficiency, working conditions, enhancing hygiene standards, and impacting on yield margins and profitability. Food industry has been identified as a major growth area for the application of automation systems. Therefore, handling devices or robot grippers have been adopted as a solution for the manual handling operations and automation in order to achieve the requirements mentioned above. However, most of these grippers yet been used in industry or proposed in the literature are specifically designed for dedicated tasks, and could not be revised for other forms, size and heavy load conditions. Consequently, the inflexibility of the grippers available today is limiting the use of robots in the food industry. Recently, various flexible gripper designs have been proposed to overcome these weaknesses; however, they present several drawbacks: (1)- their applications are limited, (2)- their maintenance and the material used for their design are cost prohibitive and (3)- they usually consume a lot of energy. The aim of this research is to develop a novel and universal gripper for handling food products. The main characteristics of the gripper are flexible, durable, cost-effective, easy to operate and maintain, and energy-efficient. The proposed multi-functional gripper aided with four fingers for handling different mechanical properties of unpacked food products. The gripper operates using Bernoulli principle of generating a high- speed flow between the gripper plate and product surface thereby creating a vacuum which lifts the product. A pick and place workstation with multi-functional gripper has been developed and tested. The outcome of the evaluation concluded that the research had achieved its aims.
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Legrand, Leo. « Contributions aux pistages mono et multi-cibles fondés sur les ensembles finis aléatoires ». Thesis, Bordeaux, 2019. http://www.theses.fr/2019BORD0107/document.

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La détection et le pistage de cibles de surface, maritimes ou terrestres, constituent l’un des champs d’application de la surveillance par radar aéroporté. Dans ce contexte spécifique, il s’agit d’estimer les trajectoires d’un ou de plusieurs objets mobiles au cours du temps à partir de mesures radar bruitées. Cependant, plusieurs contraintes s’additionnent au problème d’estimation des trajectoires :1. le nombre d’objets présents dans la région d’intérêt est inconnu et peut évoluer au cours du temps,2. les mesures fournies par le radar ne correspondent pas toutes à des objets mobiles car certaines sont dues à l’environnement ; il s’agit de fausses alarmes,3. une mesure n’est pas toujours disponible pour chaque objet à chaque instant ; il s’agit de non-détections,4. les cibles de surface peuvent être très diverses en termes de capacité de manoeuvre.Pour tenir compte des trois premières exigences, les modèles d’ensembles finis aléatoires peuvent être envisagés pour procéder aux estimations simultanées du nombre d’objets et de leur trajectoire dans un formalisme bayésien. Pour répondre à la quatrième contrainte, une classification des objets à pister peut s’avérer utile. Aussi, dans le cadre de cette thèse, nous nous intéressons à deux traitements adaptatifs qui intègrent ces deux principes.Tout d’abord, nous proposons une approche conjointe de pistage et de classification dédiée au cas d’un objet évoluant en présence de fausses alarmes. Notre contribution réside dans le développement d’un algorithme incorporant un filtre fondé sur un ensemble fini aléatoire de Bernoulli. L’algorithme résultant combine robustesse aux fausses alarmes et capacité à classer l’objet. Cette classification peut être renforcée grâce à l’estimation d’un paramètre discriminant comme la longueur, qui est déduite d’une mesure d’étalement distance.Le second traitement adaptatif présenté dans cette thèse est une technique de pistage de groupes de cibles dont les mouvements sont coordonnés. Chaque groupe est caractérisé par un paramètre commun définissant la coordination des mouvements de ses cibles. Cependant, ces dernières conservent une capacité de manoeuvre propre par rapport à la dynamique de groupe. S’appuyant sur le formalisme des ensembles finis aléatoires, la solution proposée modélise hiérarchiquement la configuration multi-groupes multi-cibles. Au niveau supérieur, la situation globale est représentée par un ensemble fini aléatoire dont les éléments correspondent aux groupes de cibles. Ils sont constitués du paramètredu groupe et d’un ensemble fini aléatoire multi-cibles. Ce dernier contient les vecteurs d’état des cibles du groupe dont le nombre peut évoluer au cours du temps. L’algorithme d’estimation développé est lui-aussi organisé de manière hiérarchique. Un filtre multi-Bernoulli labélisé (LMB) permet d’estimer le nombre de groupes, puis pour chacun d’entre eux, leur probabilité d’existence ainsi que leur paramètre commun. Pour ce faire, le filtre LMB interagit avec un banc de filtres multi-cibles qui opèrent conditionnellement à une hypothèse de groupe. Chaque filtre multi-cibles estime le nombre et les vecteurs d’état des objets du groupe. Cette approche permet de fournir à l’opérationnel des informations sur la situation tactique
Detecting and tracking maritime or ground targets is one of the application fields for surveillance by airborne radar systems. In this specific context, the goal is to estimate the trajectories of one or more moving objects over time by using noisy radar measurements. However, several constraints have to be considered in addition to the problem of estimating trajectories:1. the number of objects inside the region of interest is unknown and may change over time,2. the measurements provided by the radar can arise from the environment and do not necessarily correspond to a mobile object; the phenomenon is called false detection,3. a measurement is not always available for each object; the phenomenon is called non-detection,4. the maneuverability depends on the surface targets.Concerning the three first points, random finite set models can be considered to simultaneously estimate the number of objects and their trajectories in a Bayesian formalism. To deal with the fourth constraint, a classification of the objects to be tracked can be useful. During this PhD thesis, we developped two adaptive approaches that take into account both principles.First of all, we propose a joint target tracking and classification method dedicated to an object with the presence of false detections. Our contribution is to incorporate a filter based on a Bernoulli random finite set. The resulting algorithm combines robustness to the false detections and the ability to classify the object. This classification can exploit the estimation of a discriminating parameter such as the target length that can be deduced from a target length extent measurement.The second adaptive approach presented in this PhD dissertation aims at tracking target groups whose movements are coordinated. Each group is characterized by a common parameter defining the coordination of the movements of its targets. However, the targets keep their own capabilities of maneuvering relatively to the group dynamics. Based on the random finite sets formalism, the proposed solution represents the multi-target multi-group configuration hierarchically. At the top level, the overall situation is modeled by a random finite set whose elements correspond to the target groups. They consist of the common parameter of the group and a multi-target random finite set. The latter contains the state vectors of the targets of the group whose number may change over time. The estimation algorithm developed is also organized hierarchically. A labeled multi-Bernoulli filter (LMB) makes it possible to estimate the number of groups, and for each of them, to obtain their probability of existence as well as their common parameter. For this purpose, the LMB filter interacts with a bank of multi-target filters working conditionally to a group hypothesis. Each multi-target filter estimates the number and state vectors of the objects in the group. This approach provides operational information on the tactical situation
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Jacomini, Nelson. « Abordagem analítica para vibrações transversais de vigas multi-segmentadas com seção transversal contínua ». reponame:Biblioteca Digital de Teses e Dissertações da UFRGS, 2002. http://hdl.handle.net/10183/118200.

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Neste trabalho é proposta uma abordagem analítica para o cálculo modal de diversas configurações de vigas de Euler-Bernoulli com propriedades da seção transversal contínuas sujeitas a condições de contorno clássicas e não clássicas. A metodologia proposta está baseada em condições de normalização para as soluções da equação modal, originando uma fórmula modal associada com propriedades físicas e matemáticas da viga. Para o caso de vigas monossegmentadas não é requerido o uso do computador no cálculo dos modos. As formas modais dos diversos tipos de vigas consideradas podem ser expressas em termos das funções de Bessel, funções triangulares e funções hiperbólicas. Para fins de ilustração. é apresentado um caso de rigidez fiexural e massa linear do tipo polinomial de quarta ordem.
In this work, it is proposed an analytical approach for the modal determination of various configurations of Euler-Bernoulli bearns with continuous crosssection properties constrained with classical and non-classical boundary conditions. The proposed approach is based on normal conditions for the solutions of the modal equation, yielding a modal formula associated with mathematical and physical properties of the beam. For the mono-segmented case it is not required tbe use of computer for the modal determination. The modes of the various types of beam considered can be expressed in terms of Bessel, triangular and hyperbolic functions. For illustration, it is presented a case of fourth-order polynomial-type flexural stiffness and linear mass.
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Pace, Michele. « Stochastic models and methods for multi-object tracking ». Phd thesis, Université Sciences et Technologies - Bordeaux I, 2011. http://tel.archives-ouvertes.fr/tel-00651396.

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La poursuite multi-cibles a pour objet le suivi d'un ensemble de cibles mobiles à partir de données obtenues séquentiellement. Ce problème est particulièrement complexe du fait du nombre inconnu et variable de cibles, de la présence de bruit de mesure, de fausses alarmes, d'incertitude de détection et d'incertitude dans l'association de données. Les filtres PHD (Probability Hypothesis Density) constituent une nouvelle gamme de filtres adaptés à cette problématique. Ces techniques se distinguent des méthodes classiques (MHT, JPDAF, particulaire) par la modélisation de l'ensemble des cibles comme un ensemble fini aléatoire et par l'utilisation des moments de sa densité de probabilité. Dans la première partie, on s'intéresse principalement à la problématique de l'application des filtres PHD pour le filtrage multi-cibles maritime et aérien dans des scénarios réalistes et à l'étude des propriétés numériques de ces algorithmes. Dans la seconde partie, nous nous intéressons à l'étude théorique des processus de branchement liés aux équations du filtrage multi-cibles avec l'analyse des propriétés de stabilité et le comportement en temps long des semi-groupes d'intensités de branchements spatiaux. Ensuite, nous analysons les propriétés de stabilité exponentielle d'une classe d'équations à valeurs mesures que l'on rencontre dans le filtrage non-linéaire multi-cibles. Cette analyse s'applique notamment aux méthodes de type Monte Carlo séquentielles et aux algorithmes particulaires dans le cadre des filtres de Bernoulli et des filtres PHD.
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Jukic, Miha. « Finite elements for modeling of localized failure in reinforced concrete ». Phd thesis, École normale supérieure de Cachan - ENS Cachan, 2013. http://tel.archives-ouvertes.fr/tel-00997197.

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In this work, several beam finite element formulations are proposed for failure analysis of planar reinforced concrete beams and frames under monotonic static loading. The localized failure of material is modeled by the embedded strong discontinuity concept, which enhances standard interpolation of displacement (or rotation) with a discontinuous function, associated with an additional kinematic parameter representing jump in displacement (or rotation). The new parameters are local and are condensed on the element level. One stress resultant and two multi-layer beam finite elements are derived. The stress resultant Euler-Bernoulli beam element has embedded discontinuity in rotation. Bending response of the bulk of the element is described by elasto-plastic stress resultant material model. The cohesive relation between the moment and the rotational jump at the softening hinge is described by rigid-plastic model. Axial response is elastic. In the multi-layer beam finite elements, each layer is treated as a bar, made of either concrete or steel. Regular axial strain in a layer is computed according to Euler-Bernoulli or Timoshenko beam theory. Additional axial strain is produced by embedded discontinuity in axial displacement, introduced individually in each layer. Behavior of concrete bars is described by elastodamage model, while elasto-plasticity model is used for steel bars. The cohesive relation between the stress at the discontinuity and the axial displacement jump is described by rigid-damage softening model in concrete bars and by rigid-plastic softening model in steel bars. Shear response in the Timoshenko element is elastic. Finally, the multi-layer Timoshenko beam finite element is upgraded by including viscosity in the softening model. Computer code implementation is presented in detail for the derived elements. An operator split computational procedure is presented for each formulation. The expressions, required for the local computation of inelastic internal variables and for the global computation of the degrees of freedom, are provided. Performance of the derived elements is illustrated on a set of numerical examples, which show that the multi-layer Euler-Bernoulli beam finite element is not reliable, while the stress-resultant Euler-Bernoulli beam and the multi-layer Timoshenko beam finite elements deliver satisfying results.
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Dona, Marco. « Static and dynamic analysis of multi-cracked beams with local and non-local elasticity ». Thesis, Loughborough University, 2014. https://dspace.lboro.ac.uk/2134/14893.

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The thesis presents a novel computational method for analysing the static and dynamic behaviour of a multi-damaged beam using local and non-local elasticity theories. Most of the lumped damage beam models proposed to date are based on slender beam theory in classical (local) elasticity and are limited by inaccuracies caused by the implicit assumption of the Euler-Bernoulli beam model and by the spring model itself, which simplifies the real beam behaviour around the crack. In addition, size effects and material heterogeneity cannot be taken into account using the classical elasticity theory due to the absence of any microstructural parameter. The proposed work is based on the inhomogeneous Euler-Bernoulli beam theory in which a Dirac's delta function is added to the bending flexibility at the position of each crack: that is, the severer the damage, the larger is the resulting impulsive term. The crack is assumed to be always open, resulting in a linear system (i.e. nonlinear phenomena associated with breathing cracks are not considered). In order to provide an accurate representation of the structure's behaviour, a new multi-cracked beam element including shear effects and rotatory inertia is developed using the flexibility approach for the concentrated damage. The resulting stiffness matrix and load vector terms are evaluated by the unit-displacement method, employing the closed-form solutions for the multi-cracked beam problem. The same deformed shapes are used to derive the consistent mass matrix, also including the rotatory inertia terms. The two-node multi-damaged beam model has been validated through comparison of the results of static and dynamic analyses for two numerical examples against those provided by a commercial finite element code. The proposed model is shown to improve the computational efficiency as well as the accuracy, thanks to the inclusion of both shear deformations and rotatory inertia. The inaccuracy of the spring model, where for example for a rotational spring a finite jump appears on the rotations' profile, has been tackled by the enrichment of the elastic constitutive law with higher order stress and strain gradients. In particular, a new phenomenological approach based upon a convenient form of non-local elasticity beam theory has been presented. This hybrid non-local beam model is able to take into account the distortion on the stress/strain field around the crack as well as to include the microstructure of the material, without introducing any additional crack related parameters. The Laplace's transform method applied to the differential equation of the problem allowed deriving the static closed-form solution for the multi-cracked Euler-Bernoulli beams with hybrid non-local elasticity. The dynamic analysis has been performed using a new computational meshless method, where the equation of motions are discretised by a Galerkin-type approximation, with convenient shape functions able to ensure the same grade of approximation as the beam element for the classical elasticity. The importance of the inclusion of microstructural parameters is addressed and their effects are quantified also in comparison with those obtained using the classical elasticity theory.
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Ngo, Quoc hoan. « Double régularisation des polyzêtas en les multi-indices négatifs et extensions rationnelles ». Thesis, Sorbonne Paris Cité, 2016. http://www.theses.fr/2016USPCD023/document.

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Dans ce travail, nous nous intéressons aux problèmes relatifs aux polylogarithmes et aux sommes harmoniques pris en les multiindices négatifs(au sens large, appelés dans la suite non-positifs) et en les indices mixtes. Notre étude donnera des résultats généraux sur ces objets en relation avec les algèbres de Hopf. Les techniques utilisées sont basées sur la combinatoire des séries formelles non commutatives, formes linéaires sur l’algèbre de Hopf de φ−Shuffle. Notre travail donnera aussi un processus global pour renormaliser les polyzetâs divergents. Enfin, nous appliquerons les structures mises en évidence aux systèmes dynamiques non linéaires avec entrées singulières
In this memoir are studied the polylogarithms and the harmonic sums at non-positive (i.e. weakly negative) multi-indices. General results about these objects in relation with Hopf algebras are provided. The technics exploited here are based on the combinatorics of non commmutative generating series relative to the Hopf φ−Shuffle algebra. Our work will also propose a global process to renormalize divergent polyzetas. Finally, we will apply these ideas to non-linear dynamical systems with singular inputs
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Wu, Chia Huang, et 巫佳煌. « Analysis of Multi-server Queues with Second Optional Service and Bernoulli Vacation ». Thesis, 2012. http://ndltd.ncl.edu.tw/handle/12047774190556939008.

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博士
國立交通大學
工業工程與管理學系
100
In this dissertation, the optimization investigated multi-server queueing systems with the second optional service (SOS) channel, Bernoulli vacation policy, and customer retrial behaviors are investigated. Multi-server vacation models are more flexible and applicable in practice than single server models. For the multiple server queueing models, the mathematical analyses are complicated and difficult; hence there are only a limited number of studies. All arriving customers need the first essential service (FES) provided by the servers. As soon as the FES of a customer is completed, a customer may leave the system or opt for the SOS. Bernoulli vacation policy means that the server may take one and only one vacation of random length with certain probability at each service completion. As the completion of vacation, the server stays idly for the next new arriving customer or serves the customers waiting in the queue, if any. That is, the single vacation policy. If the customer finding all servers busy always joins the orbit and tries to enter the system for service later. This manner continues until the customer is eventually served then leave the system. This is so-called the customer retrial behaviors. Because most of retrial behaviors of the customers in the orbit are failed without the change of states, we assume that the number of customers who can generate retrial requests is restricted (truncated) to an upper bound value N. This setting makes the mathematical model easier to be analyzed. We investigate four queueing models include the M/M/c (retrial) queue with SOS channel, the M/M/c (retrial) queue with modified Bernoulli single vacation policy, and the M/M/c retrial queue with Bernoulli single vacation policy. For those four queueing systems, we develop the stability conditions and steady-state probability solutions by the matrix-geometric method and recursive technique. Furthermore, it is rather difficult to derive the closed-form solution of the rate matrix for those four queueing systems. The rate matrix is the most important component for implementing the matrix-geometric method to analyze the infinite capacity queueing system. Here, we employ a monotone and convergent sequence to approximate the rate matrix, and obtain the approximation solution of the steady-state probability. The expected cost functions are established to determine the optimal value of the number of servers, mean service rate, mean vacation rate and other system parameters. By implementing the direct search method and Quasi-Newton method, we can find the optimal solution heuristically so that the cost function is minimized. Because of sensitivity investigation on the queueing system with critical input parameters may provide some information for the system analyst. A sensitivity analysis is performed to discuss how the system performances and the optimal solutions are affected by the input parameters in the investigated queueing models. For illustration purpose, numerical results are also presented.
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Gong, Xiang. « CONSENSUS ANALYSIS ON NETWORKED MULTI-AGENT SYSTEMS WITH STOCHASTIC COMMUNICATION LINK FAILURE ». Thesis, 2013. http://hdl.handle.net/10222/21379.

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This thesis is to develop a novel consensus algorithm or protocol for multi-agent systems in the event of communication link failure over the network. The structure or topology of the system is modeled by an algebraic graph theory, and defined as a discrete time-invariant system with a second-order dynamics. The communication link failure is governed by a Bernoulli process. Lyapunov-based methodologies and Linear Matrix Inequality (LMI) techniques are then applied to find an appropriate controller gain by satisfying the sufficient conditions of the error dynamics. Therefore, the controller with the calculated gain is guaranteed to drive the system to reach a consensus. Finally, simulation and experiment studies are carried out by using two Mobile Robot Pioneer 3-DXs and one Pioneer 3-AT as a team to verify the proposed work.
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FANTACCI, CLAUDIO. « Distributed multi-object tracking over sensor networks : a random finite set approach ». Doctoral thesis, 2015. http://hdl.handle.net/2158/1003256.

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Résumé :
The aim of the present dissertation is to address distributed tracking over a network of heterogeneous and geographically dispersed nodes (or agents) with sensing, communication and processing capabilities. Tracking is carried out in the Bayesian framework and its extension to a distributed context is made possible via an information-theoretic approach to data fusion which exploits consensus algorithms and the notion of Kullback–Leibler Average (KLA) of the Probability Density Functions (PDFs) to be fused. The first step toward distributed tracking considers a single moving object. Consensus takes place in each agent for spreading information over the network so that each node can track the object. To achieve such a goal, consensus is carried out on the local single-object posterior distribution, which is the result of local data processing, in the Bayesian setting, exploiting the last available measurement about the object. Such an approach is called Consensus on Posteriors (CP). The first contribution of the present work is an improvement to the CP algorithm, namely Parallel Consensus on Likelihoods and Priors (CLCP). The idea is to carry out, in parallel, a separate consensus for the novel information (likelihoods) and one for the prior information (priors). This parallel procedure is conceived to avoid underweighting the novel information during the fusion steps. The outcomes of the two consensuses are then combined to provide the fused posterior density. Furthermore, the case of a single highly-maneuvering object is addressed. To this end, the object is modeled as a jump Markovian system and the multiple model (MM) filtering approach is adopted for local estimation. Thus, the consensus algorithms needs to be re-designed to cope with this new scenario. The second contribution has been to devise two novel consensus MM filters to be used for tracking a maneuvering object. The novel consensus-based MM filters are based on the First Order Generalized Pseudo-Bayesian (GPB1) and Interacting Multiple Model (IMM) filters. The next step is in the direction of distributed estimation of multiple moving objects. In order to model, in a rigorous and elegant way, a possibly time-varying number of objects present in a given area of interest, the Random Finite Set (RFS) formulation is adopted since it provides the notion of probability density for multi-object states that allows to directly extend existing tools in distributed estimation to multi-object tracking. The multi-object Bayes filter proposed by Mahler is a theoretically grounded solution to recursive Bayesian tracking based on RFSs. However, the multi-object Bayes recursion, unlike the single-object counterpart, is affected by combinatorial complexity and is, therefore, computationally infeasible except for very small-scale problems involving few objects and/or measurements. For this reason, the computationally tractable Probability Hypothesis Density (PHD) and Cardinalized PHD (CPHD) filtering approaches will be used as a first endeavour to distributed multiobject filtering. The third contribution is the generalisation of the single-object KLA to the RFS framework, which is the theoretical fundamental step for developing a novel consensus algorithm based on CPHD filtering, namely the Consensus CPHD (CCPHD). Each tracking agent locally updates multi-object CPHD, i.e. the cardinality distribution and the PHD, exploiting the multi-object dynamics and the available local measurements, exchanges such information with communicating agents and then carries out a fusion step to combine the information from all neighboring agents. The last theoretical step of the present dissertation is toward distributed filtering with the further requirement of unique object identities. To this end the labeled RFS framework is adopted as it provides a tractable approach to the multi-object Bayesian recursion. The δ- GLMB filter is an exact closed-form solution to the multi-object Bayes recursion which jointly yields state and label (or trajectory) estimates in the presence of clutter, misdetections and association uncertainty. Due to the presence of explicit data associations in the δ-GLMB filter, the number of components in the posterior grows without bound in time. The fourth contribution of this thesis is an efficient approximation of the δ-GLMB filter, namely Marginalized δ-GLMB (Mδ-GLMB), which preserves key summary statistics (i.e. both the PHD and cardinality distribution) of the full labeled posterior. This approximation also facilitates efficient multi-sensor tracking with detection-based measurements. Simulation results are presented to verify the proposed approach. Finally, distributed labeled multi-object tracking over sensor networks is taken into account. The last contribution is a further generalization of the KLA to the labeled RFS framework, which enables the development of two novel consensus tracking filters, namely the Consensus Marginalized δ-Generalized Labeled Multi-Bernoulli (CM-δGLMB) and the Consensus Labeled Multi-Bernoulli (CLMB) tracking filters. The proposed algorithms provide a fully distributed, scalable and computationally efficient solution for multi-object tracking. Simulation experiments on challenging single-object or multi-object tracking scenarios confirm the effectiveness of the proposed contributions.
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Chapitres de livres sur le sujet "Multi-bernoulli"

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Corcino, Roberto B. « Multi Poly-Bernoulli and Multi Poly-Euler Polynomials ». Dans Applied Mathematical Analysis : Theory, Methods, and Applications, 679–721. Cham : Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-319-99918-0_21.

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Zhang, Yunong, Dechao Chen et Chengxu Ye. « Multi-Input Bernoulli-Polynomial WASD Neuronet ». Dans Toward Deep Neural Networks, 125–36. Boca Raton, Florida : CRC Press, [2019] | Series : Chapman & Hall/CRC artificial intelligence and robotics series : Chapman and Hall/CRC, 2019. http://dx.doi.org/10.1201/9780429426445-10.

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Liu, Rang, Hongqi Fan et Huaitie Xiao. « A Forward-Backward Labeled Multi-Bernoulli Smoother ». Dans Distributed Computing and Artificial Intelligence, 16th International Conference, 244–52. Cham : Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-23887-2_28.

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Chen, Junyu, Shiliang Sun et Jing Zhao. « Multi-label Active Learning with Conditional Bernoulli Mixtures ». Dans Lecture Notes in Computer Science, 954–67. Cham : Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-97304-3_73.

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Streit, Roy, Robert Blair Angle et Murat Efe. « Multi-Bernoulli Mixture and Multiple Hypothesis Tracking Filters ». Dans Analytic Combinatorics for Multiple Object Tracking, 113–43. Cham : Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-61191-0_5.

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Zhu, Jihong, Benlian Xu, Mingli Lu, Jian Shi et Peiyi Zhu. « A Novel Multi-cell Multi-Bernoulli Tracking Method Using Local Fractal Feature Estimation ». Dans Lecture Notes in Computer Science, 312–20. Cham : Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-61833-3_33.

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Zhang, Xuan, B. John Oommen et Ole-Christoffer Granmo. « Generalized Bayesian Pursuit : A Novel Scheme for Multi-Armed Bernoulli Bandit Problems ». Dans IFIP Advances in Information and Communication Technology, 122–31. Berlin, Heidelberg : Springer Berlin Heidelberg, 2011. http://dx.doi.org/10.1007/978-3-642-23960-1_16.

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Hoseinnezhad, Reza, Ba-Ngu Vo et Truong Nguyen Vu. « Visual Tracking of Multiple Targets by Multi-Bernoulli Filtering of Background Subtracted Image Data ». Dans Lecture Notes in Computer Science, 509–18. Berlin, Heidelberg : Springer Berlin Heidelberg, 2011. http://dx.doi.org/10.1007/978-3-642-21524-7_63.

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Dai, Kunpeng, Yafei Wang, Shuai Wang et Chengliang Yin. « Inter-target Occlusion Handling in Multi-vehicle Corner Tracking Based on Labeled Multi-Bernoulli Filter with Detection Probability Optimization Model ». Dans Lecture Notes in Electrical Engineering, 178–89. Singapore : Springer Nature Singapore, 2022. http://dx.doi.org/10.1007/978-981-19-2259-6_16.

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Dong, Xudong, Xiaofei Zhang, Jun Zhao, Meng Sun et Jianfeng Li. « DOA Tracking with Multi-Bernoulli Filter for Two-Parallel Linear Array : Reconstruct MUSIC as Pseudo-Likelihood ». Dans Wireless Technology, Intelligent Network Technologies, Smart Services and Applications, 65–73. Singapore : Springer Singapore, 2021. http://dx.doi.org/10.1007/978-981-16-5168-7_9.

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Actes de conférences sur le sujet "Multi-bernoulli"

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Fontana, Marco, Angel F. Garcia-Fenandez et Simon Maskell. « Bernoulli merging for the Poisson multi-Bernoulli mixture filter ». Dans 2020 IEEE 23rd International Conference on Information Fusion (FUSION). IEEE, 2020. http://dx.doi.org/10.23919/fusion45008.2020.9190443.

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Chen, Yiqi, Ping Wei, Gaiyou Li, Lin Gao et Yuansheng Li. « The Spline Multi-Target Multi-Bernoulli Filter ». Dans 2020 IEEE 23rd International Conference on Information Fusion (FUSION). IEEE, 2020. http://dx.doi.org/10.23919/fusion45008.2020.9190412.

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Vo, Ba-Tuong, et Ba-Ngu Vo. « Multi-Scan Generalized Labeled Multi-Bernoulli Filter ». Dans 2018 21st International Conference on Information Fusion (FUSION 2018). IEEE, 2018. http://dx.doi.org/10.23919/icif.2018.8455419.

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Gostar, A. K., R. Hoseinnezhad et A. Bab-Hadiashar. « Multi-bernoulli sensor control for multi-target tracking ». Dans 2013 IEEE Eighth International Conference on Intelligent Sensors, Sensor Networks and Information Processing (ISSNIP). IEEE, 2013. http://dx.doi.org/10.1109/issnip.2013.6529808.

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Yin, Jianjun, Jianqiu Zhang et Jin Zhao. « The Gaussian Particle multi-target multi-Bernoulli filter ». Dans 2010 2nd International Conference on Advanced Computer Control. IEEE, 2010. http://dx.doi.org/10.1109/icacc.2010.5486859.

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Li, Suqi, Wei Yi, Bailu Wang et Lingjiang Kong. « Computationally Efficient Distributed Multi-Sensor Multi-Bernoulli Filter ». Dans 2018 21st International Conference on Information Fusion (FUSION 2018). IEEE, 2018. http://dx.doi.org/10.23919/icif.2018.8455329.

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Williams, Jason L. « The best fitting multi-Bernoulli filter ». Dans 2014 IEEE Statistical Signal Processing Workshop (SSP). IEEE, 2014. http://dx.doi.org/10.1109/ssp.2014.6884615.

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Yang, Bin, Jun Wang, Wenguang Wang et Shaoming Wei. « Multipath Generalized Labeled Multi-Bernoulli Filter ». Dans 2018 21st International Conference on Information Fusion (FUSION 2018). IEEE, 2018. http://dx.doi.org/10.23919/icif.2018.8455291.

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Cheng, Xuan, Hongbing Ji, Yongquan Zhang et Nanqi Chen. « Box Particle Fast Labeled Multi-Bernoulli Filter ». Dans 2019 IEEE 5th International Conference on Computer and Communications (ICCC). IEEE, 2019. http://dx.doi.org/10.1109/iccc47050.2019.9064190.

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Kim, Du Yong, et Moongu Jeon. « Robust multi-Bernoulli filtering for visual tracking ». Dans 2014 International Conference on Control, Automation and Information Sciences (ICCAIS). IEEE, 2014. http://dx.doi.org/10.1109/iccais.2014.7020566.

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