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Robust Online Obstacle Detection and Tracking for Collision-Free Navigation of Multirotor UAVs in Complex Environments

Robust Online Obstacle Detection and Tracking for Collision-...

引用

international conference on control, automation, robotics and vision

作者： Min Wang Holger Voos Daobilige Su Automation and Robotics Research Group University of Luxembourg Luxembourg Australian Center for Field Robotics (ACFR) University of Sydney Australia

Object detection and tracking is a challenging task, especially for unmanned aerial robots in complex environments where both static and dynamic objects are present. It is, however, essential for ensuring safety of the robot during navigation in such environments. In this work we present a practical online approach which is based on a 2D LIDAR. Unlike common approaches in the literature of modeling the environment as 2D or 3D occupancy grids, our approach offers a fast and robust method to represent the objects in the environment in a compact form, which is significantly more efficient in terms of both memory and computation in comparison with the former. Our approach is also capable of classifying objects into categories such as static and dynamic, and tracking dynamic objects as well as estimating their velocities with reasonable accuracy.

关键词： Laser radar Two dimensional displays Radar tracking Robots Computational modeling Cameras Shape measurement

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Extended Model and control of Regenerative Chatter Vibrations in Orthogonal Cutting

Extended Model and Control of Regenerative Chatter Vibration...

引用

international conference on control, automation, robotics and vision

作者： Ziv Brand Shai Arogeti Dept. of Mechanical Engineering NRCN Beer Sheva Israel Dept. of Mechanical Engineering BGU Beer Sheva Israel

Turning machining is an important manufacturing process, widely used in industry. Dynamic interaction between the tool and the workpiece may cause regenerative chatter, which is associated with problems of poor surface finish, reduced product quality and low productivity. the demand for high accuracy motivates development of active vibration control methods that are based on realistic dynamical models of the turning process. this paper discusses the development of an active robust control law that is based on an extended regenerative chatter vibration model for orthogonal cutting. Its novelty stems from the way the workpiece elastic behavior is taken into consideration. the presented numerical results show that the vibration level can be reduced significantly, even in the presence of external disturbances, parametric uncertainty and (open loop) unstable machining conditions.

关键词： regenerative chatter orthogonal cutting active control UDE control time delay

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Practical Test for Closed-Loop Identification and control on Magnetic Levitation System: A Fractional-Order Approach

Practical Test for Closed-Loop Identification and Control on...

引用

international conference on control, automation, robotics and vision

作者： Kajal Kothari Utkal Mehta Nikhil Singh School of Engineering and Physics University of the South Pacific Fiji

Magnetic levitation system is an interesting equipment to demonstrate an intricate control design problem. Because of its non-linearity and exhibit uncertain open-loop properties together critically unstable in nature, identifying such system and then designing an effective controller is very demanding. this paper proposes identification and control strategy for real-time magnetic levitation system based on fractional theory and an orthogonal series. Without removing the controller from the loop, the unknown system is identified in form of low-order fractional model accurately. then, a new fractional controller namely FOPID (fractional-order-proportional-integral-derivative) is tuned to improve the system performance. Real-time experiment study clearly illustrates the effectiveness of the presented tuning method.

关键词： control systems Steel Magnetic levitation Mathematical model Transfer functions Real-time systems Tuning

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SceneEDNet: A Deep Learning Approach for Scene Flow Estimation

SceneEDNet: A Deep Learning Approach for Scene Flow Estimati...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Ravi Kumar thakur Snehasis Mukherjee Computer Vision Group Indian Institute of Information Technology Sri City Chittoor

Estimating scene flow in RGB-D videos is attracting much interest of the computer vision researchers, due to its potential applications in robotics. the state-of-the-art techniques for scene flow estimation typically rely on the knowledge of scene structure of the frame and the correspondence between frames. However, with the availability of large RGB-D data captured from depth sensors, learning representations for estimation of scene flow has become possible. this paper introduces a first effort to apply a deep learning method for direct estimation of scene flow by presenting a fully convolutional neural network with an encoder-decoder (ED) architecture. the proposed network SceneEDNet involves estimation of three dimensional motion vectors of all the scene points from sequence of stereo images. the training for direct estimation of scene flow is done using consecutive pairs of stereo images and corresponding scene flow ground truth.

关键词： Estimation Optical imaging Adaptive optics Cameras Videos Training

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Synthesis of Point Memory-Based Adaptive Gain Robust controllers with Guaranteed $\mathcal{L}_{2}$ Gain Performance for a Class of Uncertain Time-Delay Systems

Synthesis of Point Memory-Based Adaptive Gain Robust Control...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Hidetoshi Oya Shunya Nagai Tsuyoshi Matsuki Yoshikatsu Hoshi Department of Computer Science Tokyo City University Tokyo Japan Department of Information Systems Creation Kangagawa University Yokohama Kanagawa Japan Department of Electronics and Control Eng. Niihama College Niihama Ehime Japan

this paper proposes a point memory-based adaptive gain robust controller with L 2 gain performance for a class of uncertain linear systems with state delays. the point memory adaptive gain robust controller presented in this paper consists of a fixed gain controller and a adaptive gain one. In this paper, we show that LMI-based sufficient conditions for the existence of the proposed adaptive gain robust controller are presented. Finally, a simple illustrative example is included to show the effectiveness of the proposed robust control system.

关键词： Symmetric matrices Robust control Linear matrix inequalities control systems Adaptive systems Uncertainty Linear systems

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A Minimum Phase Modeling Approach to Disturbance Observer Design for Balancing control of a Single-wheel Robot

A Minimum Phase Modeling Approach to Disturbance Observer De...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Sang D. Lee Seul Jung Department of Mechatronics Engineering Chungnam National University Daejeon KOREA

Stabilization of the inverse model of the target system is a critical problem in a current disturbance observer (DOB) based control scheme. When the system is identified as a second order system by the recursive least square (RLS) algorithm, the minimum phase (MP) of the model is not guaranteed. this paper addresses a guaranteed minimum phase method of the identified second order model. Jury's test is conducted to check the stability. All-Pass-Filtering (APF) process are conducted for updating prior parameters of RLS to satisfy the minimum phase criteria. To verify the proposal, a single-wheel robot is identified as a second order model by the RLS method with guaranteed stability. Disturbance observer is designed based on the model. Balancing control experiments of a single-wheel robot are conducted.

关键词： Robots Stability criteria Load modeling Poles and zeros Disturbance observers

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Sensor Scheduling in Distributed Kalman Filter for Multi-Target Tracking

Sensor Scheduling in Distributed Kalman Filter for Multi-Tar...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Lucheng Sun Ya Zhang Ministry of Education Key Laboratory of Measurement and Control of Complex Systems of Engineering Nanjing China

this paper studies the design of a distributed sensor scheduling policy for a sensor network, in which each dynamical target can only be measured by partial sensors due to the restriction of sensor resources while each sensor requires to monitor all targets. Consensus Kalman filtering algorithm and stochastic scheduling strategy are applied. Firstly, a necessary condition of the observation probabilities of the targets, which can guarantee the boundedness of the expected covariance of the network, is provided. Secondly, the marginal utility of the expected covariance with respect to the observation probability is proved. then, an algorithm is proposed to compute the optimal probabilities, which requires less complex calculations. Numerical simulations are conducted to demonstrate the performance of the proposed algorithms.

关键词： Robot sensing systems Kalman filters Time measurement Covariance matrices Optimization Processor scheduling

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Experimental Validation of a Multirobot Distributed Receding Horizon Motion Planning Approach

Experimental Validation of a Multirobot Distributed Receding...

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international conference on control, automation, robotics and vision (ICARCV)

作者： José M. Mendes Filho Eric Lucet David Filliat U2IS Université Paris-Saclay France CEA Interactive Robotics Laboratory France Ecole Polytechnique Palaiseau FR

this paper addresses the problem of motion planning for a multirobot system in a partially known environment where conditions such as uncertainty about robots' positions and communication delays are real. In particular, we detail the use of a Distributed Receding Horizon Approach that guarantees collision avoidance with static obstacles and between robots communicating with each other. Underlying optimization problems are solved by using a Sequential Least Squares Programming algorithm. Experiments with real nonholonomic mobile platforms are performed. the proposed framework is compared with the Dynamic Window approach to motion planning in a single robot setup. A second experiment shows results for a multirobot case using two robots where collision is avoided even in presence of significant localization uncertainties.

关键词： Collision avoidance Trajectory Robot sensing systems Planning Optimization Programming

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Universal, Open Source, Myoelectric Interface for Assistive Devices

Universal, Open Source, Myoelectric Interface for Assistive ...

引用

international conference on control, automation, robotics and vision

作者： Adam Naber Yiannis Karayiannidis Max Ortiz-Catalan Department of Electrical Engineering Chalmers University of Technology Gothenburg Sweden Department of Robotics and Perception and Learning Royal Institute of Technology Stockholm Sweden Integrum AB Mölndal Sweden

We present an integrated, open-source platform for the control of assistive vehicles. the system is vehicle-agnostic and can be controlled using a myoelectric interface to translate muscle contractions into vehicular commands. A modular shared-control system was used to enhance safety and ease of use, and three collision avoidance systems were included and verified in both an included test platform and on a quadcopter operating in a simulated environment. Seven subjects performed the experiments and rated the user experience of the system under each of the provided collision avoidance systems with positive results. Qualitative tests with the quadcopter validated the proposed system and shared-control techniques. this open-source platform for shared control between humans and machines integrates decoding of motor volition with control engineering to expedite further investigation into the operation of mobile robots.

关键词： Collision avoidance Sensors Electromyography Robots Open source software Pattern recognition

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UAV Push Recovery Operation by Symmetrical control and Estimation in Receding Horizon

UAV Push Recovery Operation by Symmetrical Control and Estim...

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international conference on control, automation, robotics and vision

作者： Basaran Bahadir Kocer Tegoeh Tjahjowidodo Gerald Gim Lee Seet Faculty of Mechanical and Aerospace Engineering Nanyang Technological University Singapore

this paper presents an unmanned aerial vehicle (UAV) push recovery operation using model predictive control (MPC) and moving horizon estimation (MHE) in a symmetric manner. this utilization is motivated by the active use of UAVs, particularly for the contact based inspection of the surrounding's ceilings. To enable a physical interaction operation by an optimization-based algorithm, a primal-dual quadratic programming (QP) solver is structured for the MPC and MHE. the designed system consists of (a) an interaction model to be implemented both on the control and the estimation;(b) an integral action in the predictive controller;(c) a disturbance estimation by MHE to update the MPC. Consequently, the nominal MPC, the integral action in MPC, and the disturbance observer based MPC are compared for a UAV push recovery operation. the numerical investigations demonstrate the applicability of the proposed approach.

关键词： Estimation Unmanned aerial vehicles Linear programming Microsoft Windows Quadratic programming Predictive models

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