Aerial Object Following Using Visual Fuzzy Servoing

This article presents a visual servoing system to follow a 3D moving object by a Micro Unmanned Aerial Vehicle (MUAV). The presented control strategy is based only on the visual information given by an adaptive tracking method based on the colour information. A visual fuzzy system has been developed for servoing the camera situated on a rotary wing MAUV, that also considers its own dynamics. This system is focused on continuously following of an aerial moving target object, maintaining it with a fixed safe distance and centred on the image plane. The algorithm is validated on real flights on outdoors scenarios, showing the robustness of the proposed systems against winds perturbations, illumination and weather changes among others. The obtained results indicate that the proposed algorithms is suitable for complex controls task, such object following and pursuit, flying in formation, as well as their use for indoor navigation

A new similarity function for generalized trapezoidal fuzzy numbers

Numerous authors have proposed functions to quantify the degree of similarity between two fuzzy numbers using various descriptive parameters, such as the geometric distance, the distance between the centers of gravity or the perimeter. However, these similarity functions have drawback for specific situations. We propose a new similarity measure for generalized trapezoidal fuzzy numbers aimed at overcoming such drawbacks. This new measure accounts for the distance between the centers of gravity and the geometric distance but also incorporates a new term based on the shared area between the fuzzy numbers. The proposed measure is compared against other measures in the literature.

Aggregating preference ranking with fuzzy Data Envelopment Analysis

Selecting the best alternative in a group decision making is a subject of many recent studies. The most popular method proposed for ranking the alternatives is based on the distance of each alternative to the ideal alternative. The ideal alternative may never exist; hence the ranking results are biased to the ideal point. The main aim in this study is to calculate a fuzzy ideal point that is more realistic to the crisp ideal point. On the other hand, recently Data Envelopment Analysis (DEA) is used to find the optimum weights for ranking the alternatives. This paper proposes a four stage approach based on DEA in the Fuzzy environment to aggregate preference rankings. An application of preferential voting system shows how the new model can be applied to rank a set of alternatives. Other two examples indicate the priority of the proposed method compared to the some other suggested methods.

fuzzySim: Fuzzy similarity in species distributions

fuzzySim is an R package for calculating fuzzy similarity in species occurrence patterns. It includes functions for data preparation, such as converting species lists (long format) to presence-absence tables (wide format), obtaining unique abbreviations of species names, or transposing (parts of) complex data frames; and sample data sets for providing practical examples. It can convert binary presence-absence to fuzzy occurrence data, using e.g. trend surface analysis, inverse distance interpolation or prevalence-independent environmental favourability modelling, for multiple species simultaneously. It then calculates fuzzy similarity among (fuzzy) species distributions and/or among (fuzzy) regional species compositions. Currently available similarity indices are Jaccard, Sørensen, Simpson, and Baroni-Urbani & Buser.