The most commonly used simultaneous localization and mapping (SLAM) scheme often assumes a static environment, leading to significant errors in pose estimation when operating in highly dynamic scenes. To address this limitation and improve the robustness and accuracy of positioning in dynamic environments, this study proposes CD-SLAM, a real-time stereo vision inertial SLAM system specifically designed for complex dynamic environments, based on ORB-SLAM3. CD-SLAM enhances the tracking thread and introduces a new parallel thread that utilizes YOLOv5 to detect objects in each input frame and extract semantic information. This semantic information, combined with prior information from the inertial measurement unit (IMU), is used for pose estimation, eliminating the pose information of dynamic objects and consequently improving the accuracy and robustness of positioning. Furthermore, CD-SLAM employs scene flow to calculate the distance between adjacent frames and determine the spatial velocity between them, compensating for potential static information through a velocity filtering algorithm. To enhance positioning accuracy in challenging environments with weak textures, CD-SLAM integrates an IMU for motion prediction and coherence detection. Finally, appeal information is integrated to determine the motion status of objects in the scene and filter out dynamic feature points. Experimental tests conducted on the VIODE dataset demonstrate that CD-SLAM outperforms the existing algorithms in terms of accuracy and robustness.

The main purpose of the paper is to discuss controllability problem for infinite-dimensional fractional linear discrete-time control systems. Moreover, the minimum energy control problem of infinite-dimensional fractional-discrete time linear systems is also addressed. Using theory of linear operators necessary and sufficient conditions for the exact controllability of the system are established. Sufficient conditions for the solvability of the minimum energy control of the infinite-dimensional fractional discrete-time systems are given. A procedure for computation of the optimal sequence of inputs minimizing the quadratic performance index is proposed.

The paper presents an analysis of a mathematical model of the human arm dynamics in terms of observability. The purpose of the performed experiments is the selection of an observer for the possibility of arm tracking. The arm model is based on the two-link manipulator moving horizontally and vertically. For the study a model was linearized and the model part responsible for the work of human muscles was omitted. The experimental part involved simulated measurements of the motion parameters that imitate real-IMU (Inertial Measurement Unit) measurements. Finally, the simulation results using the observer in the form of a Kalman filter and the particle filter have been presented.

The main objective of this article is to present the state of the art concerning approximate controllability of dynamic systems in infinite-dimensional spaces. The presented investigation focuses on obtaining sufficient conditions for approximate controllability of various types of dynamic systems using Schauder’s fixed-point theorem. We describe the results of approximate controllability for nonlinear impulsive neutral fuzzy stochastic differential equations with nonlocal conditions, impulsive neutral functional evolution integro-differential systems, stochastic impulsive systems with control-dependent coefficients, nonlinear impulsive differential systems, and evolution systems with nonlocal conditions and semilinear evolution equation.

This article presents the analysis of a mathematical model of human arm's dynamics in terms of observability. The research is conducted in search of an observer which gives the possibility of arm tracking. The arm's model is based on a two-link manipulator able to move in horizontal and vertical planes. Model is analyzed after linearization and omittance of muscles representing part. The experimental part involves simulation of the motion parameters and real IMU measurements. Finally, simulation results concerning the use of observer in the form of Kalman and particle filters are presented.

For discrete linear time-varying systems with bounded system matrices we discuss the pole assignment problem utilizing linear state feedback. It is shown that uniform complete controllability is su...