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检索条件"任意字段=Workshop on Robot Motion and Control"

共 3688 条记录，以下是131-140 订阅

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Local Stability Analysis for Tensegrity-Based Multi-Agent Formations

Local Stability Analysis for Tensegrity-Based Multi-Agent Fo...

引用

International workshop on robot motion and control (RoMoCo)

作者： Zhiyuan Liu Ming Cao Faculty of Science and Engineering Engineering and Technology Institute Groningen University of Groningen Netherlands

ISBN: (数字)9798350393965

ISBN: (纸本)9798350393972

This paper discusses the local stability property of a multi-agent system using a tensegrity framework. Given a desired multi-agent configuration in general positions with its corresponding stress matrix, we propose a new type of virtual tensegrity frameworks consisting of cables and struts, with which the designed controllers locally stabilize the formation at the desired shape. The center manifold theorem is used for the proof of local exponential stability of the target set since linearization fails at any given equilibria. The local stability analysis sheds new light on the understanding of both the pre-stressed equilibrium and those controllers derived from more general distance-based functions.

关键词： robot motion Manifolds Shape Conferences Stability analysis control theory Stress

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MECHATRONIC GENERATION OF DATASETS FOR ACOUSTICS RESEARCH 17

MECHATRONIC GENERATION OF DATASETS FOR ACOUSTICS RESEARCH

引用

17th International workshop on Acoustic Signal Enhancement (IWAENC)

作者： Lu, Austin Moore, Ethaniel Nallanthighall, Arya Sarkar, Kanad Mittal, Manan Corey, Ryan M. Smaragdis, Paris Singer, Andrew Univ Illinois Urbana IL 61801 USA

ISBN: (数字)9781665468671

ISBN: (纸本)9781665468671

We address the challenge of making spatial audio datasets by proposing a shared mechanized recording space that can run custom acoustic experiments: a Mechatronic Acoustic Research System (MARS). To accommodate a wide variety of experiments, we implement an extensible architecture for wireless multi-robot coordination which enables synchronized robot motion for dynamic scenes with moving speakers and microphones. Using a virtual control interface, we can remotely design automated experiments to collect large-scale audio data. This data is shown to be similar across repeated runs, demonstrating the reliability of MARS. We discuss the potential for MARS to make audio data collection accessible for researchers without dedicated acoustic research spaces.

关键词： Audio recording robotics remote control signal processing source separation speech processing

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Development of Ceiling Board Opening robot for Installing Electric Light and Air Conditioning Equipment

Development of Ceiling Board Opening Robot for Installing El...

引用

International workshop on Advanced motion control (AMC)

作者： Issa Omura Ryo Oyori Masami Iwase Department of Robotics and Mechatronics School of Science and Technology for Future Life Tokyo Denki University Tokyo JAPAN

The purpose of this research is to develop a robot that automates opening work of ceiling board for installing electric lights and air conditioning equipment. The opening operation requires that the error margin be kept within 2 mm of the drawing's indication. To ensure accuracy, a total station-based robot self-position estimation system is constructed. The cutting accuracy by the robot is ensured by using coordinate transformations to absorb the robot's movement error. Subsequently, each subsystem of the robot is integrated to achieve continuous opening work.

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Decentralized multi-robot collision-free path following based on time-varying artificial vector fields and MPC-ORCA 20

Decentralized multi-robot collision-free path following base...

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20th Latin American robotics Symposium (LARS) / 15th Brazilian Symposium on robotics (SBR) / 14th workshop on robotics in Education (WRE)

作者： Freitas, Elias J. R. Vangasse, Arthur da C. Raffo, Guilherme V. Pimenta, Luciano C. A. Univ Fed Minas Gerais Grad Program Elect Engn Av Antonio Carlos 6627 BR-31270901 Belo Horizonte MG Brazil Fed Inst Minas Gerais IFMG Belo Horizonte MG Brazil Univ Fed Minas Gerais Dept Elect Engn Belo Horizonte MG Brazil

ISBN: (纸本)9798350315387

This work focuses on the solution for multi-agent, collision-free, time-varying path-following problems in 3D spaces. The proposed solution is based on using time-varying artificial vector fields to generate velocity references for single agents. A distributed Model Predictive control (MPC) scheme is employed, taking into account the system's dynamics and collision avoidance features, enabling the multi-robot system to follow the dynamic field without collisions and providing great computational efficiency. More specifically, Optimal Reciprocal Collision Avoidance (ORCA) algorithm is used to set constraints, yielding a novel MPC-ORCA approach, for efficient collision avoidance in the multi-agent scenario. Simulation scenarios are used to validate and compare the proposed approach with traditional methods, highlighting its improvements.

关键词： Multi-robot Systems Collision Avoidance motion and Path Planning Distributed robot Systems

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Systematic Escape Using Billiard Moves

Systematic Escape Using Billiard Moves

引用

International workshop on robot motion and control (RoMoCo)

作者： Somnath Kundu Yeganeh Bahoo Steven M. LaValle Department of Computer Science Toronto Metropolitan University (formerly Ryerson University) Toronto ON Canada Center for Ubiquitous Computing University of Oulu Oulu Finland

ISBN: (数字)9798350393965

ISBN: (纸本)9798350393972

We consider a robot that can move in a straight line, until it hits any wall of a given 2D rectangle room. If the robot hits a corner of the room then it will stop, otherwise the robot bounces off the wall using the laws of reflection and again move in another straight line. The room may contain an unbroken opening of unit length on a wall, which is unknown to the robot. If the robot reaches any point of the opening with a non-zero angle, then it escapes through the opening. The objective of the problem is to devise an algorithm for the robot which enables it to find if there is an opening on the perimeter of any given rectangle or detect that the room contains no opening. This work is a continuation of our previous publication [1], where we presented an algorithm that enables the robot to find the opening or correctly declare that there is none, when any two adjacent sides of the rectangle are integer and co-prime. In this work, we study the problem for rectangles of any lengths and we have proposed a strategy where the robot is guaranteed to find the opening or correctly declare that there is none. Additionally, We provide other interesting results related to our proposed algorithm.

关键词： robot motion Systematics Conferences Reflection robots

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Path Planning Design of robots Based on Improved Particle Swarm Optimization Algorithm and Artificial Potential Field Method 6

Path Planning Design of Robots Based on Improved Particle Sw...

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6th International workshop on Advanced Algorithms and control Engineering, IWAACE 2022

作者： Cai, Lijuan Cai, Jiali Shi, Yuhong Chongqing Telecommunications Polytechnic College China

ISBN: (纸本)9781510657755

robot path planning is to find the best path for robot movement considering the interference of surrounding obstacles. In this paper, the feasible region is rasterized and the robot path planning problem is transformed into abstract space that can be dealt with. In order to improve the computational efficiency, the improved particle swarm optimization algorithm combined with artificial potential field method was used to find the best moving path in the grid environment. Bessel curve is used for final smoothing operation to solve the problem of multiple path breaks in grid environment and obtain the final moving path. An example shows that this method can overcome the shortcomings of traditional algorithms and intelligent algorithms in robot path planning, and has strong search and convergence ability. © 2022 SPIE.

关键词： motion planning

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Two-Layer Adaptive Funnel MRAC with Applications to the control of Multi-Rotor UAVs

Two-Layer Adaptive Funnel MRAC with Applications to the Cont...

引用

International workshop on robot motion and control (RoMoCo)

作者： Mattia Gramuglia Giri M. Kumar Andrea L'Afflitto Department of Mechanical Engineering Virginia Tech Blacksburg VA USA The Department of Industrial and Systems Engineering Virginia Tech Blacksburg VA USA

ISBN: (数字)9798350393965

ISBN: (纸本)9798350393972

This paper merges for the first time two recent forms of adaptive control techniques, namely two-layer model reference adaptive control (MRAC) and funnel control, also known as tube-based control. Two-layer MRAC allows the user to set the rate of convergence of the tracking error arbitrarily high without altering the user-defined reference model or relying on barrier functions. Funnel control is a technique whereby the tracking error is constrained within bounds that can be progressively tighter. The proposed approach merges the benefits of both techniques and, for the first time in the literature on funnel control, explicitly regulates the diameter of the funnel through some user-defined adaptive law. The proposed results are tested by simulating payload delivery missions using multi-rotor unmanned aerial vehicles (UAVs) in the high-fidelity environment PyChrono.

关键词： robot motion Adaptation models Trajectory tracking Motors Trajectory Adaptive control Task analysis

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Toward Human-robot Cooperation: Unsupervised Domain Adaptation for Egocentric Action Recognition 1

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15th International workshop on Human-Friendly robotics (HFR)

作者： Planamente, Mirco Goletto, Gabriele Trivigno, Gabriele Averta, Giuseppe Caputo, Barbara Politecn Torino Corso Duca Abruzzi 24 I-10129 Turin Italy Ist Italiano Tecnol Via Morego 30 I-16163 Genoa Italy Consortium Cini Rome Italy

ISBN: (数字)9783031227318

ISBN: (纸本)9783031227332;9783031227318;9783031227301

With the advent of collaborativemanipulators, the community is pushing the limits of human-robot interaction with novel control, planning, and task allocation strategies. For a purposeful interaction, however, the robot is also required to understand and predict the action of the human not only at a kinematic level (i.e. motion estimation), but also at an higher level of abstraction (i.e. action recognition), ideally from the human own perspective. Dealing with egocentric videos comes with the benefit that the data source already embeds an intrinsic attention mechanism, driven by the focus of the user. However, the deployment of such technology in realistic use-cases cannot ignore the large variability of background characteristics when changing environment, resulting in a domain shift in features space not learnable from labels at training time. In this paper, we discuss a method to perform Domain Adaptation with no external supervision, which we test on the EPIC-Kitchens-100 UDA Challenge in Action Recognition. More specifically, we move from our previous work on Relative Norm Alignment and extend the approach to unlabelled target data, enabling a simpler adaptation of the model to the target distribution in an unsupervised fashion. To this purpose, we enhanced our framework with multi-level adversarial alignment and with a set of losses aimed at reducing the classifier's uncertainty on the target data. Extensive experiments demonstrate how our approach is capable to perform Multi-Source Multi-Target Domain Adaptation, thus minimising both temporal (i.e. different recording times) and environmental (i.e. different kitchens) biases.

关键词： Human-robot cooperation First person action recognition Unsupervised domain adaptation

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Comparison of Time-Varying Stabilizing Strategies for a Kinematic Car Model: Numerical Simulations

Comparison of Time-Varying Stabilizing Strategies for a Kine...

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International workshop on robot motion and control (RoMoCo)

作者： Alexander Zuyev Victoria Grushkovskaya Max Planck Institute for Dynamics of Complex Technical Systems Magdeburg Germany National Academy of Sciences of Ukraine Institute of Applied Mathematics & Mechanics Sloviansk Ukraine Department of Mathematics University of Klagenfurt Klagenfurt am Worthersee Austria

ISBN: (数字)9798350393965

ISBN: (纸本)9798350393972

This paper addresses the kinematic model of a front-wheel-driven car with two control inputs. We develop a family of time-varying feedback laws that incorporate oscillating signals to stabilize the equilibrium of this model. Our contribution encompasses three control design strategies: designing for the original vector fields, employing a nilpotent approximation, and implementing a simplified scheme through component-wise matrix inversion. We simulate the trajectory behaviors for these strategies under classical solutions of the closed-loop system and under sampling-based solutions. Numerical simulations are conducted to provide a comparative analysis of the stabilization algorithms presented.

关键词： robot motion Kinematics Numerical simulation Vectors Trajectory Numerical models Closed loop systems

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Behaviour Tree-Based Task Execution controller for Internal Transportation robots

Behaviour Tree-Based Task Execution Controller for Internal ...

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International workshop on robot motion and control (RoMoCo)

作者： Bartłomiej Cybulski Paweł Smyczyński Grzegorz Granosik Institute of Automatic Control Lodz University of Technology Lodz University of Technology Lodz Poland Institute of Automatic Control Lodz University of Technology Lodz Poland

ISBN: (数字)9798350393965

ISBN: (纸本)9798350393972

The aim of this work is to present the structure and operating principle of a high-level controller for receiving, interpreting and executing tasks for autonomous mobile robots. The controller is based on behaviour trees. The py_trees library was used to develop it. The algorithm has been applied to the mobile robots designed for internal transportation. Special emphasis was put on the description of the incoming tasks handling procedures. It is explained how they were designed and how the behaviours are interpreted by the robots. The novelty of the proposed solution is the static structure of the controller, which, compared to dynamic approaches, does not require reconfiguration of the tree to handle different types of tasks. In the paper, the authors compare their own solution to methods previously used in mobile robotics. In conclusion, the advantages of the concept presented in the paper are listed.

关键词： robot motion Conferences Transportation Production Libraries Delays Mobile robots

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