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检索条件"任意字段=Conference on Robotics - Science and Systems"

共 30106 条记录，以下是21-30 订阅

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Optimal Synthesis for Stochastic systems With Information Security Preservation Under Temporal Logic Constraints 18

Optimal Synthesis for Stochastic Systems With Information Se...

引用

18th International conference on Control Automation robotics and Vision

作者： Zheng, Yiwei Lan, Weiyao Yu, Xiao Xiamen Univ Dept Automat Xiamen 361005 Peoples R China Minist Educ China Key Lab Multimedia Trusted Percept & Efficient Co Xiamen 361005 Peoples R China Xiamen Univ Inst Artificial Intelligence Xiamen Peoples R China

ISBN: (纸本)9798331518509;9798331518493

In this paper, we present a method for synthesizing optimal policies for stochastic systems under high-level mission specifications while maintaining information security. The stochastic systems are modeled as probabilistic labeling Markov decision processes (PLMDPs), and the high-level mission specifications are represented by linear temporal logic (LTL) formulas, which must be satisfied repeatedly, infinitely often. Meanwhile, an intruder is modeled as an observer who knows the exact structure of the system and passively monitors its behavior, aiming to infer the high-level mission specifications. Our objective is to synthesize an optimal policy that minimizes the mean payoff cost while preventing the intruder from definitively determining the given mission specifications. We begin by extending the PLMDP model by incorporating an observation function and the corresponding probability function, and we introduce the concept of LTL opacity for stochastic systems. Next, by proposing a new structure called the synchronous accepting maximally end component, we identify the subset of the accepting end components that satisfy the LTL opacity requirement. Finally, we develop a modified linear program with information security constraints to synthesize an optimal policy that ensures both formal correctness and LTL opacity.

关键词： Stochastic systems

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Enhancing Sustainability Product Development and Creativity in Education: The Impact of Educational robotics and Design Thinking on Student Learning 26th

Enhancing Sustainability Product Development and Creativity ...

引用

26th International conference on Interactive Collaborative Learning (ICL) - Towards a Hybrid, Flexible and Socially Engaged Higher Education / 52nd IGIP International conference on Engineering Pedagogy

作者： Jaeggle, Georg Lepuschitz, Wilfried Merdan, Munir Vincze, Markus Vienna Univ Technol ACIN Inst Automat & Control Vienna Austria Bee Produced GmbH Vienna Austria

ISBN: (纸本)9783031530210;9783031530227

This study examines the impact of educational robotics activities with a design thinking approach on students' learning outcomes, environmental awareness, and self-efficacy in problem-solving. The research is based on a mixed-methods approach, incorporating quantitative data from surveys and qualitative data from working sheets and photos of students' prototypes. The study involved 92 students who participated in a three-hour workshop using the C4STEM framework and the 5-step plan for educational robotics activities. The findings indicate that the educational robotics activities facilitated students' learning about sustainability, recycling, and product development. The design thinking approach, hands-on experiences, and collaborative problem-solving enhanced students' creativity and critical thinking skills. The students demonstrated a strong understanding of the connection between sustainability and robotics, developing innovative prototypes with sustainable components. Moreover, the workshop had a positive impact on students' environmental awareness, as they gained knowledge about e-waste and recycling. The results also revealed increased students' self-efficacy in using robots for problem-solving. The study highlights the significance of integrating robotics into education to promote 21st-century skills. By incorporating design thinking and sustainability principles, educators can foster students' environmental consciousness and equip them with the necessary skills to address sustainable development goals.

关键词： Educational robotics activity sustainable product development design thinking approach environmental awareness sustainable development goals

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Data-Driven Optimal Control for Continuous-Time Linear Nonzero-Sum Games 18

Data-Driven Optimal Control for Continuous-Time Linear Nonze...

引用

18th International conference on Control Automation robotics and Vision

作者： Li, Hongyang Wei, Qinglai Song, Ruizhuo Chinese Acad Sci Inst Automat State Key Lab Multimodal Artificial Intelligence Beijing 100190 Peoples R China Univ Sci & Technol Beijing Sch Automat & Elect Engn Beijing 100083 Peoples R China

ISBN: (纸本)9798331518509;9798331518493

In this paper, the data-driven optimal control problem is studied for continuous-time linear nonzero-sum games. Two kinds of reinforcement learning algorithms, i.e., reinforcement learning algorithm with data-storage based least-square method and reinforcement learning algorithm with filter based least-square method, are presented to obtain the Nash equilibrium solution. The properties of the presented reinforcement learning algorithms are analyzed. Simulation results show the efficiency of the presented reinforcement learning algorithms.

关键词： Optimal control game theory continuous-time linear systems reinforcement learning

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Exploring Programming Concepts and Robotic Sensors: How to Organise Them Within Educational Content 15th

Exploring Programming Concepts and Robotic Sensors: How to O...

引用

15th conference on robotics in Education (RiE)

作者： Stenova, Barbora Mikova, Karolina Comenius Univ Bratislava 84248 Slovakia

ISBN: (纸本)9783031670589;9783031670596

In this paper, we present a set of six activities using the Lego Spike Prime robotics kit. The primary learning objectives of these activities are to develop students' programming and algorithmic skills, computational thinking, and soft skills. Our research introduces one of the possible appropriate command sequences combined with the specific sensors of the selected kit. This approach aims to respect the cognitive difficulty of the tasks based on the age of the students and, simultaneously, exploit the motivational potential of educational robotics. Unlike traditional programming, this allows teachers to incorporate hands-on activities as a modern element of teaching. The activities are designed with consideration for the framework and needs of the Slovak education system, specifically for a 90 min computer science lesson in lower secondary school. We conducted qualitative research in three different schools with students aged 10 to 15. These students were not necessarily robotics enthusiasts. Each task in every activity is briefly described, along with the commands taught. These activities are the result of our iterative research and multiple implementations in the educational process, encompassing the design idea, used sensors, and commands.

关键词： LEGO SPIKE Prime Activities Programming Lower Secondary Education Computer science Classes

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Stochastic Implicit Neural Signed Distance Functions for Safe Motion Planning under Sensing Uncertainty

Stochastic Implicit Neural Signed Distance Functions for Saf...

引用

IEEE International conference on robotics and Automation (ICRA)

作者： Quintero-Pena, Carlos Thomason, Wil Kingston, Zachary Kyrillidis, Anastasios Kavraki, Lydia E. Rice Univ Dept Comp Sci Houston TX 77005 USA

ISBN: (纸本)9798350384581;9798350384574

Motion planning under sensing uncertainty is critical for robots in unstructured environments, to guarantee safety for both the robot and any nearby humans. Most work on planning under uncertainty does not scale to high-dimensional robots such as manipulators, assumes simplified geometry of the robot or environment, or requires per-object knowledge of noise. Instead, we propose a method that directly models sensor-specific aleatoric uncertainty to find safe motions for high-dimensional systems in complex environments, without exact knowledge of environment geometry. We combine a novel implicit neural model of stochastic signed distance functions with a hierarchical optimization-based motion planner to plan low-risk motions without sacrificing path quality. Our method also explicitly bounds the risk of the path, offering trustworthiness. We empirically validate that our method produces safe motions and accurate risk bounds and is safer than baseline approaches.

关键词： Stochastic systems

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Inter-event time analysis in probability for stochastic linear event-triggered control systems 18

Inter-event time analysis in probability for stochastic line...

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18th International conference on Control Automation robotics and Vision

作者： Li, Wangjiang Yu, Hao Shi, Dawei Beijing Inst Technol Sch Automat Beijing 100081 Peoples R China

ISBN: (纸本)9798331518509;9798331518493

In this study, the properties of inter-event times in probability for stochastic linear event-triggered control systems are explored. The analysis of inter-event intervals is conducted for three distinct classes of event-triggering mechanisms: the absolute, relative, and mixed ones. Given the inherent stochastic nature of systems, it is challenging to achieve a certain judgment on avoiding Zeno behavior, where events occur at an infinite frequency. To address this issue, a probabilistic approach to examine the inter-event times is employed. It enables us to quantify the likelihood of Zeno behavior occurring in different scenarios, providing valuable insights into the performance of stochastic event-triggered control systems. Our research reveals substantial differences in the likelihood on the occurrence of a positive minimum inter-event interval among different mechanisms. Specifically, the mixed event-triggering mechanism emerges as the most probable one to yield a positive minimum inter-event time, indicating its potential superiority in efficiency. Conversely, some solutions of relative event-triggered control are proved to exhibit Zeno behavior with a probability of 1. Finally, a numerical example is provided to illustrate the efficiency and feasibility of the obtained results.

关键词： Stochastic control systems

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Task Allocation in Heterogeneous Multi-Robot systems Based on Preference-Driven Hedonic Game

Task Allocation in Heterogeneous Multi-Robot Systems Based o...

引用

IEEE International conference on robotics and Automation (ICRA)

作者： Zhang, Liwang Li, Minglong Yang, Wenjing Yang, Shaowu Natl Univ Def Technol Dept Intelligent Data Sci Coll Comp Sci & Technol Changsha 410073 Peoples R China

ISBN: (纸本)9798350384581;9798350384574

Multiple preferences between robots and tasks have been largely overlooked in previous research on Multi-Robot Task Allocation (MRTA) problems. In this paper, we propose a preference-driven approach based on hedonic game to address the task allocation problem of muti-robot systems in emergency rescue scenarios. We present a distributed framework considering various preferences between robots and tasks to determine the division of coalitions in such problems and evaluate the scalability and adaptability of our algorithm through relevant experiments. Furthermore, considering the strict communication limitations in emergency rescue scenarios, we have verified that our algorithm can efficiently converge to a Nash-stable coalition partition even in conditions of insufficient communication distance.

关键词： Multipurpose robots

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Validation of Teachers' Competencies for Applying robotics in science Education 14th

Validation of Teachers' Competencies for Applying Robotics i...

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14th International conference on robotics in Education (RiE)

作者： Saad, Doaa Verner, Igor Rosenberg-Kima, Rinat B. Technion Israel Inst Technol Haifa Israel

ISBN: (纸本)9783031384530;9783031384547

This research aims to identify the required competencies needed to integrate robotics activities into science education, particularly due to the lack of comprehensive models that address the necessary competencies for teachers to effectively teach science with robotics. A list of competencies needed by middle school teachers to integrate robotics activities into science classrooms was developed in the following steps. First, an initial list of competencies was developed based on a literature review in the field of robotics education that focused on various aspects of the TPACK model and open observations during a teachers' development program. Second, experts and experienced robotics teachers were interviewed regarded the competencies needed to develop and implement robotics activities suitable for science education, which resulted in an updated list of competencies and adding additional competencies in the context of 21st-century skills. Third, Fifty-five teachers rated the items on a scale from 1-not necessary to 5-very necessary. Factor analysis was performed and the items were examined concerning the rating they received. Understanding how robotics can be coordinated with pedagogy and scientific knowledge for effective teaching, the present study adapted a TPACK instrument for use of robotics to teach classroom science and reformulated it with 21st-century skills.

关键词： science-education Educational robotics Competencies TPACK model 21st-century skills

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How to Train Your Neural Control Barrier Function: Learning Safety Filters for Complex Input-Constrained systems

How to Train Your Neural Control Barrier Function: Learning ...

引用

IEEE International conference on robotics and Automation (ICRA)

作者： So, Oswin Serlin, Zachary Mann, Makai Gonzales, Jake Rutledge, Kwesi Roy, Nicholas Fan, Chuchu MIT Cambridge MA 02139 USA MIT Lincoln Lab Cambridge MA USA

ISBN: (纸本)9798350384581;9798350384574

Control barrier functions (CBFs) have become popular as a safety filter to guarantee the safety of nonlinear dynamical systems for arbitrary inputs. However, it is difficult to construct functions that satisfy the CBF constraints for high relative degree systems with input constraints. To address these challenges, recent work has explored learning CBFs using neural networks via neural CBFs (NCBFs). However, such methods face difficulties when scaling to higher dimensional systems under input constraints. In this work, we first identify challenges that NCBFs face during training. Next, to address these challenges, we propose policy neural CBFs (PNCBFs), a method of constructing CBFs by learning the value function of a nominal policy, and show that the value function of the maximum-over-time cost is a CBF. We demonstrate the effectiveness of our method in simulation on a variety of systems ranging from toy linear systems to a jet aircraft with a 16-dimensional state space. Finally, we validate our approach on a two-agent quadcopter system on hardware under tight input constraints.

关键词： Nonlinear dynamical systems

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Almost sure ISS and iISS for randomly switched time-varying systems with time-delays 9

Almost sure ISS and iISS for randomly switched time-varying ...

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9th International conference on Automation, Control and robotics Engineering (CACRE)

作者： Liu, Qian He, Yong Dong, Kaifeng China Univ Geosci Sch Automat Wuhan Peoples R China

ISBN: (纸本)9798350350319;9798350350302

This paper delves into almost sure input-to-state stability (ISS) and almost sure integral input-to-state stability (iISS) of randomly switched time-varying systems with time-delays. We provide definitions for almost sure ISS and almost sure iISS, underlining their necessity with an example that shows the disparity between pth moment ISS and almost sure ISS. Following this, we derive criteria for almost sure ISS and almost sure iISS based on indefinite multiple Lyapunov functions and Razumikhin technique. Notably, these criteria give time-varying stability estimators which do not require subsystems to maintain ISS or iISS throughout the entire time interval. Finally, the effectiveness and advantages of our results are demonstrated through a numerical example.

关键词： nonlinear time-varying systems switched systems delayed systems random process input-to-state stability integral input-to-state stability

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