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Overcoming Bias: Equivariant Filter Design for Biased Attitude Estimation With Online Calibration

IEEE robotics AND automation LETTERS 2022年第4期7卷 12118-12125页

作者： Fornasier, Alessandro Ng, Yonhon Brommer, Christian Bohm, Christoph Mahony, Robert Weiss, Stephan Univ Klagenfurt Control Networked Syst Grp A-9020 Klagenfurt Austria Australian Natl Univ Syst Theory & Robot Lab Canberra ACT 2601 Australia

Stochastic filters for on-line state estimation are a core technology for autonomous systems. The performance of such filters is one of the key limiting factors to a system's capability. Both asymptotic behavior (e.g., for regular operation) and transient response (e.g., for fast initialization and reset) of such filters are of crucial importance in guaranteeing robust operation of autonomous systems. This letter introduces a new generic formulation for a gyroscope aided attitude estimator using N direction measurements including both body-frame and reference-frame direction type measurements. The approach is based on an integrated state formulation that incorporates navigation, extrinsic calibration for all direction sensors, and gyroscope bias states in a single equivariant geometric structure. This newly proposed symmetry allows modular addition of different direction measurements and their extrinsic calibration while maintaining the ability to include bias states in the same symmetry. The subsequently proposed filter-based estimator using this symmetry noticeably improves the transient response, and the asymptotic bias and extrinsic calibration estimation compared to state-of-the-art approaches. The estimator is verified in statistically representative simulations and is tested in real-world experiments.

关键词： Aerial systems: perception and autonomy formal methods in robotics and automation localization sensor fusion

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Provably Safe Multi-Robot Coordination With Unreliable Communication

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IEEE robotics AND automation LETTERS 2019年第4期4卷 3232-3239页

作者： Mannucci, Anna Pallottino, Lucia Pecora, Federico Univ Pisa Res Ctr E Piaggio I-56122 Pisa Italy Orebro Univ Ctr Appl Autonomous Sensor Syst SE-70182 Orebro Sweden

Coordination is a core problem in multi-robot systems, since it is a key to ensure safety and efficiency. Both centralized and decentralized solutions have been proposed, however, most assume perfect communication. This letter proposes a centralized method that removes this assumption, and is suitable for fleets of robots driven by generic second-order dynamics. We formally prove that: first, safety is guaranteed if communication errors are limited to delays;and second, the probability of unsafety is bounded by a function of the channel model in networks with packet loss. The approach exploits knowledge of the network's non-idealities to ensure the best possible performance of the fleet. The method is validated via several experiments with simulated robots.

关键词： Multi-robot systems planning scheduling and coordination formal methods in robotics and automation

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Collision Tests in Human-Robot Collaboration: Experiments on the Influence of Additional Impact Parameters on Safety

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IEEE ACCESS 2023年 11卷 118395-118413页

作者： Fischer, Clara Neuhold, Michael Steiner, Martin Haspl, Thomas Rathmair, Michael Schlund, Sebastian TU Wien Inst Management Sci A-1040 Vienna Austria TUV Austria Serv GmbH A-1230 Vienna Austria Joanneum Res Robot A-9020 Klagenfurt Austria

Human-robot collaborations are among the most promising but challenging applications for human-centered production, as both agents involved share a mutual workspace without physical barriers. Safety aspects require limiting the power and force of operations to comply with biomechanical limits in case of a collision according to the International Organization for Standardization (ISO) technical specification ISO/TS 15066:2016. This analysis requires highly elaborate physical crash tests of potential impact scenarios. formal verification will save considerable amounts of time and effort. However, the equations presented in current guidelines need to be more accurate as many factors influencing the impact force and pressure are not considered, making these equations impractical for the evaluation of real applications. To answer the question of which parameters influence a human-robot collision, we have experimentally analyzed different collision scenarios in various configurations. The main results show the correlation of impactor geometries, edges versus rounding, and Shore hardness of the affected body region that simulates human tissue. This work presents the parameters that a formal human-robot collision verification model should contain, based on experimental tests. Furthermore, a model that identifies a collision's worst-case impacted body region is introduced. The results of this work will help in simplifying and accelerating the safety evaluation process of collaborative human-robot applications to better realize their potential.

关键词： Industrial robot safety human-robot collaboration (HRC) formal methods in robotics and automation power and force limitation robot collision evaluation

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Integrated Task and Motion Planning for Safe Legged Navigation in Partially Observable Environments

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IEEE TRANSACTIONS ON robotics 2023年第6期39卷 4913-4934页

作者： Shamsah, Abdulaziz Gu, Zhaoyuan Warnke, Jonas Zhao, Ye Hutchinson, Seth Georgia Inst Technol Woodruff Sch Mech Engn Lab Intelligent Decis & Autonomous Robots Atlanta GA 30313 USA Kuwait Univ Coll Engn & Petr Mech Engn Dept Safat 13060 Kuwait Georgia Inst Technol Inst Robot & Intelligent Machines Sch Interact Comp Atlanta GA 30313 USA Georgia Inst Technol Inst Robot & Intelligent Machines Sch Interact Comp Atlanta GA 30313 USA

This study proposes a hierarchically integrated framework for safe task and motion planning (TAMP) of bipedal locomotion in a partially observable environment with dynamic obstacles and uneven terrain. The high-level task planner employs linear temporal logic (LTL) for a reactive game synthesis between the robot and its environment and provides a formal guarantee on navigation safety and task completion. To address environmental partial observability, a belief abstraction is employed at the high-level navigation planner to estimate the dynamic obstacles' location. Accordingly, a synthesized action planner sends a set of locomotion actions to the middle-level motion planner, while incorporating safe locomotion specifications extracted from safety theorems based on a reduced-order model (ROM) of the locomotion process. The motion planner employs the ROM to design safety criteria and a sampling algorithm to generate non-periodic motion plans that accurately track high-level actions. To address external perturbations, this study also investigates safe sequential composition of the keyframe locomotion state and achieves robust transitions against external perturbations through reachability analysis. A set of ROM-based hyperparameters are finally interpolated to design whole-body locomotion gaits generated by trajectory optimization and validate the viable deployment of the ROM-based TAMP on a 20-degrees-of-freedom Cassie robot designed by Agility robotics.

关键词： formal methods in robotics and automation humanoid and bipedal locomotion motion and path planning task planning

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Kinodynamic Motion Planning via Branch-and-Cut Over Probabilistic Roadmaps

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IEEE robotics AND automation LETTERS 2024年第1期9卷 247-254页

作者： Ramirez, Miquel Selvaratnam, Daniel Manzie, Chris Univ Melbourne Dept Elect & Elect Engn Parkville Vic 3052 Australia KTH Royal Inst Technol Sch Elect Engn & Comp Sci Div Decis & Control Syst S-11428 Stockholm Sweden

This letter describes an extension of the classic Lazy Probabilistic Roadmaps algorithm (Lazy PRM), which results from pairing PRM and a novel Branch-and-Cut (BC) algorithm. Cuts are dynamically generated constraints that are imposed on minimum cost paths over the geometric graphs selected by PRM. Cuts eliminate paths that cannot be mapped into smooth plans that satisfy suitably defined geometric and differential constraints. We generate candidate smooth plans by fitting splines to vertices in a minimum-cost path. Plans are validated with a recently proposed algorithm that maps them into finite traces, without the need to choose a fixed discretization step. A trace records the exact sequence of constraint boundaries crossed by the plan, modulo arithmetic precision. We evaluate several planners using our methods over the recently proposed BARN benchmark, reporting evidence of the scalability of our approach.

关键词： Motion and path planning formal methods in robotics and automation kinematics

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A formal Safety Net for Waypoint-Following in Ground Robots

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IEEE robotics AND automation LETTERS 2019年第3期4卷 2910-2917页

作者： Bohrer, Brandon Tan, Yong Kiam Mitsch, Stefan Sogokon, Andrew Platzer, Andre Tech Univ Munich Fak Informat D-85748 Garching Germany Carnegie Mellon Univ Comp Sci Dept Pittsburgh PA 15213 USA

We present a reusable formally verified safety net that provides end-to-end safety and liveness guarantees for two-dimensional way point-following of Dubins-type ground robots with tolerances and acceleration. First, we model a robot in differential dynamic logic and specify assumptions on the controller and robot kinematics. Second, we prove formal safety and liveness properties for waypoint-following with speed limits. Third, we synthesize a monitor, which is automatically proven to enforce model compliance at runtime. Fourth, our use of the VeriPhy toolchain makes these guarantees carry over down to the level of machine code with untrusted controllers, environments, and plans. The guarantees for the safety net apply to any robot as long as the waypoints are chosen safely and the physical assumptions in its model hold. Experiments show that these assumptions hold in practice, with an inherent tradeoff between compliance and performance.

关键词： formal methods in robotics and automation robot safety hybrid logical/dynamical planning and verification motion control kinematics

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Determination of All Stable and Unstable Equilibria for Image-Point-Based Visual Servoing

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IEEE TRANSACTIONS ON robotics 2024年 40卷 3406-3424页

作者： Colotti, Alessandro Fontan, Jorge Garcia Goldsztejn, Alexandre Briot, Sebastien Chaumette, Francois Kermorgant, Olivier El Din, Mohab Safey Nantes Univ Ecole Cent Nantes CNRS F-44035 Nantes France Sorbonne Univ LIP6 F-75006 Paris France Univ Rennes Inria CNRS IRISA F-35000 Rennes France

Local minima are a well-known drawback of image-based visual servoing systems. Up to now, there were no formal guarantees on their number, or even their existence, according to the considered configuration. In this work, a formal approach is presented for the exhaustive computation of all minima and unstable equilibria for a class of six well-known image-based visual servoing controllers. This approach relies on a new polynomial formulation of the equilibrium condition that avoids using the camera pose. By using modern computational algebraic geometry methods and an ad hoc symmetry breaking strategy, the formal resolution of this new equilibrium condition is rendered computationally feasible. The proposed methodology is applied to compute the equilibria of several classical visual servoing tasks, with planar and nonplanar configurations of four and five points. The effects of local minima and saddle points on the dynamics of the system are finally illustrated through intensive simulation results, as well as the effects of image noise and uncertainties on depths.

关键词： Visualization Visual servoing Noise Computational modeling Robot kinematics Task analysis Polynomials formal methods in robotics and automation sensor-based control stability analysis visual servoing

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An Abstraction-Free Method for Multirobot Temporal Logic Optimal Control Synthesis

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IEEE TRANSACTIONS ON robotics 2021年第5期37卷 1487-1507页

作者： Luo, Xusheng Kantaros, Yiannis Zavlanos, Michael M. Duke Univ Dept Mech Engn & Mat Sci Durham NC 27708 USA

The majority of existing linear temporal logic (LTL) planning methods rely on the construction of a discrete product automaton, which combines a discrete abstraction of robot mobility and a Buchi automaton that captures the LTL specification. Representing this product automaton as a graph and using graph search techniques, optimal plans that satisfy the LTL task can be synthesized. However, constructing expressive discrete abstractions makes the synthesis problem computationally intractable. In this article, we propose a new sampling-based LTL planning algorithm that does not require any discrete abstraction of robot mobility. Instead, it incrementally builds trees that explore the product state-space, until a maximum number of iterations is reached or a feasible plan is found. The use of trees makes data storage and graph search tractable, which significantly increases the scalability of our algorithm. To accelerate the construction of feasible plans, we introduce bias in the sampling process, which is guided by transitions in the Buchi automaton that belong to the shortest path to the accepting states. We show that our planning algorithm, with and without bias, is probabilistically complete and asymptotically optimal. Finally, we present numerical experiments showing that our method outperforms relevant temporal logic planning methods.

关键词： Task analysis Planning Automata Sampling methods Navigation Heuristic algorithms Acceleration formal methods in robotics and automation motion and path planning optimization and optimal control path planning for multiple mobile robots or agents

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Discovering Closed-Loop Failures of Vision-Based Controllers via Reachability Analysis

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IEEE robotics AND automation LETTERS 2023年第5期8卷 2692-2699页

作者： Chakraborty, Kaustav Bansal, Somil Univ Southern Calif Dept Elect & Comp Engn Los Angeles CA 90089 USA

Machine learning driven image-based controllers allow robotic systems to take intelligent actions based on the visual feedback from their environment. Understanding when these controllers might lead to system safety violations is important for their integration in safety-critical applications and engineering corrective safety measures for the system. Existing methods leverage simulation-based testing (or falsification) to find the failures of vision-based controllers, i.e., the visual inputs that lead to closed-loop safety violations. However, these techniques do not scale well to the scenarios involving high-dimensional and complex visual inputs, such as RGB images. In this work, we cast the problem of finding closed-loop vision failures as a Hamilton-Jacobi (HJ) reachability problem. Our approach blends simulation-based analysis with HJ reachability methods to compute an approximation of the backward reachable tube (BRT) of the system, i.e., the set of unsafe states for the system under vision-based controllers. Utilizing the BRT, we can tractably and systematically find the system states and corresponding visual inputs that lead to closed-loop failures. These visual inputs can be subsequently analyzed to find the input characteristics that might have caused the failure. Besides its scalability to high-dimensional visual inputs, an explicit computation of BRT allows the proposed approach to capture non-trivial system failures that are difficult to expose via random simulations. We demonstrate our framework on two case studies involving an RGB image-based neural network controller for (a) autonomous indoor navigation, and (b) autonomous aircraft taxiing.

关键词： Robots Visualization Safety Robot sensing systems Computational modeling Aircraft navigation Aircraft Robot Safety formal methods in robotics and automation optimization and optimal control vision-based navigation

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Data-Driven Energy Estimation of Individual Instructions in User-Defined Robot Programs for Collaborative Robots

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IEEE robotics AND automation LETTERS 2021年第4期6卷 6836-6843页

作者： Heredia, Juan Schlette, Christian Kjaergaard, Mikkel Baun Univ Southern Denmark Maersk Mc Kinney Moller Inst Campusvej 55 DK-5230 Odense Denmark

Traditionally, the objective of industrial production focuses on fast and low-cost production, regardless of resources and energy consumption (EC). However, in alignment with the UN Sustainable Development Goals (SDG), governments worldwide have proposed regulations to reduce resources and energy. In their production lines, an increasing number of companies are using collaborative robots (cobots). Cobots are programmed to accomplish their task as fast as possible, ignoring the robot's EC. This letter estimates the cobot EC from individual instructions of user-defined robot programs. Thus, the user has an additional design parameter to create energy-optimal programs. In the literature, current EC estimation models for manipulators are not reliable or have not been assessed to test the model's reliability. Our modeling methodology possesses three steps: motion planning, dynamic model, and EC model. Using cobots of different sizes (UR3e and UR10e) and loading, we collected over 55000 samples per case and trained the model to identify the model's unknown parameters. The model estimated the power consumption of a testing dataset with a maximum RMS error of 6 [W] - 3.85%. In the final experiment, the complete system was tested using a user-defined program composed of six instructions. The results showed an accurate estimation of the power profile with an RMS error of 2.39 [W] and 4.23 [W] for UR3e and UR10e.

关键词： Energy and environment-aware automation simulation and animation calibration and identification dynamics formal methods in robotics and automation

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