Stabilization of linear continuous-time systems using neuromorphic vision sensors

Prince Singh, Sze Yong, Jean Gregoire, Andrea Censi, Emilio Frazzoli

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

Recently developed neuromorphic vision sensors have become promising candidates for agile and autonomous robotic applications primarily due to, in particular, their high temporal resolution and low latency. Each pixel of this sensor independently fires an asynchronous stream of 'retinal events' once a change in the light field is detected. Existing computer vision algorithms can only process periodic frames and so a new class of algorithms needs to be developed that can efficiently process these events for control tasks. In this paper, we investigate the problem of quadratically stabilizing a continuous-time linear time invariant (LTI) system using measurements from a neuromorphic sensor. We present an H controller that stabilizes a continuous-time LTI system and provide the set of stabilizing neuromorphic sensor based cameras for the given system. The effectiveness of our approach is illustrated on an unstable system.

Original languageEnglish (US)
Title of host publication2016 IEEE 55th Conference on Decision and Control, CDC 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3030-3036
Number of pages7
ISBN (Electronic)9781509018376
DOIs
StatePublished - Dec 27 2016
Externally publishedYes
Event55th IEEE Conference on Decision and Control, CDC 2016 - Las Vegas, United States
Duration: Dec 12 2016Dec 14 2016

Other

Other55th IEEE Conference on Decision and Control, CDC 2016
CountryUnited States
CityLas Vegas
Period12/12/1612/14/16

    Fingerprint

ASJC Scopus subject areas

  • Artificial Intelligence
  • Decision Sciences (miscellaneous)
  • Control and Optimization

Cite this

Singh, P., Yong, S., Gregoire, J., Censi, A., & Frazzoli, E. (2016). Stabilization of linear continuous-time systems using neuromorphic vision sensors. In 2016 IEEE 55th Conference on Decision and Control, CDC 2016 (pp. 3030-3036). [7798722] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2016.7798722