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We study the problem of distance-based formation shape control for autonomous agents with double-integrator dynamics. Our considerations are focused on exponential stability properties. For second-order formation systems under the standard gradient-based control law, we prove local exponential stability with respect to the total energy by applying Chetaev's trick to the Lyapunov candidate function

We present a novel texture compression scheme, called iPACKMAN, targeted for hardware implementation. Interms of image quality, it outperforms the previous de facto standard texture compression algorithms in the majority of all cases that we have tested. Our new algorithm is an extension of the PACKMAN texture compressionsystem, and while it is a bit more complex than PACKMAN, it is still very low

In order to compare measurements in different laboratories and with different models and measuring principles a small Round Robin test was suggested. 8 test institutions were able to join the study (with foot model sizes from 254 mm to 275 mm and test boot sizes from 41 to 44). We got also a declaration of interest from several other institutes that were not able to carry out the tests. A database

Offenders who target children are a negative phenomenon in our society. These offenders are often seen as the worst of the worst of criminals and are therefore a priority for investigators trying to solve these crimes as fast as possible. The purpose of this thesis is to see if there are common denominators among these offenders in their modus operandi (MO) and their spatial patterns. If similar p

SOFC systems, working at high temperatures of about 800°C, have recently attracted significant interests for application as automotive and stationary power supply systems. This paper explores the possibilities and limitations for achievement of solid oxide fuel cells (SOFCs) as 7 kW auxiliary power units on luxury passenger vehicles operating on diesel fuel. Various issues are discussed, e.g., the

Today’s multimedia systems use different types of media with different play-out devices. Currently we are heading towards a situation where for example cellular content providers, the home entertainment industry and networked multimedia over the Internet provide different content and dirferent formats that are incompatible with devices from the other systems. This is in stark contrast with the cur

Ranging requires detection of the first arriving signal component. The accuracy of time-of-arrival-based range estimation is greatly degraded in the presence of multi-user interference (MUI). We develop a method that applies a nonlinear filter on received signal energy to suppress multiuser interference. Then, leading signal path is tracked via an iterative searchback algorithm. The method is test

This paper presents algorithms for continuous-time quadratic optimization of impedance control. Explicit solutions to the Hamilton-Jacobi equation for optimal control of rigid-body motion are found by solving an algebraic matrix equation. System stability is investigated according to Lyapunov function theory, and it is shown that global asymptotic stability holds. The solution results in design pa

The high time resolution of ultra-wideband (UWB) signals results in a large number of multipath components (MPCs) arriving at the receiver, which presents a source of diversity. In addition to this multipath diversity, there is also repetition diversity inherent in impulse radio (IR) UWB systems, since a number of pulses are transmitted for each information symbol. In order to make optimal use of