Stabilization of linear continuous-time systems using neuromorphic vision sensors

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

doi:10.1109/CDC.2016.7798722

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 proceeding › Conference contribution

3 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 language	English (US)
Title of host publication	2016 IEEE 55th Conference on Decision and Control, CDC 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3030-3036
Number of pages	7
ISBN (Electronic)	9781509018376
DOIs	https://doi.org/10.1109/CDC.2016.7798722
State	Published - Dec 27 2016
Externally published	Yes
Event	55th IEEE Conference on Decision and Control, CDC 2016 - Las Vegas, United States Duration: Dec 12 2016 → Dec 14 2016

Other

Other	55th IEEE Conference on Decision and Control, CDC 2016
Country	United States
City	Las Vegas
Period	12/12/16 → 12/14/16

ASJC Scopus subject areas

Artificial Intelligence
Decision Sciences (miscellaneous)
Control and Optimization

Access to Document

10.1109/CDC.2016.7798722

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Stabilization of linear continuous-time systems using neuromorphic vision sensors. / Singh, Prince; Yong, Sze; Gregoire, Jean; Censi, Andrea; Frazzoli, Emilio.

2016 IEEE 55th Conference on Decision and Control, CDC 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 3030-3036 7798722.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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., 7798722, Institute of Electrical and Electronics Engineers Inc., pp. 3030-3036, 55th IEEE Conference on Decision and Control, CDC 2016, Las Vegas, United States, 12/12/16. https://doi.org/10.1109/CDC.2016.7798722

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