检索结果-内蒙古大学图书馆

9th RSI International Conference on robotics and Mechatronics (ICRoM)

作者： Soleimani, Ehsan Nikoofard, Amirhossein Yektamoghadam, Hossein K N Toosi Univ Technol Fac Elect Engn Tehran Iran

ISBN: (纸本)9781665420945

In recent research, unmanned aerial vehicle (UAV) or drone technology has developed well;on the other hand, multiple UAVs have been used to perform complex missions. In this paper, the distribution model in formation control problem for multiagent robotic systems with leader-follower is investigated. To compare distributed and decentralized models, the game theory approach is used, given that it is an optimal approach based on the Nash equilibrium point, which causes the differences between the two models better showed off. In this article for leader-follower UAVs generally found that distributed models do the surveillance and reconnaissance faster. Due to the importance of a high mission success rate and operating costs, using the distributed model has been concluded. These results are based on specific conditions that can be extended;however, the results can be cited for the researcher.

关键词： Unmanned aerial vehicles (UAVs) Game Theory Multi-agent systems distributed robot systems Decentralized formation control

来源：评论

学校读者我要写书评

暂无评论

distributed Control for Cooperative Manipulation With Event-Triggered Communication

引用

IEEE TRANSACTIONS ON robotICS 2020年第4期36卷 1038-1052页

作者： Dohmann, Pablo Budde Gen. Hirche, Sandra Tech Univ Munich Chair Informat Oriented Control Dept Elect & Comp Engn Elect & Comp Engn D-80333 Munich Germany Tech Univ Munich Chair Informat Oriented Control Dept Elect & Comp Engn D-80333 Munich Germany

Cooperative manipulation tasks can be divided into the subtasks of object trajectory tracking and grasp maintenance. Both subtasks typically pose individual requirements on the underlying control objective in terms of accuracy and robustness to disturbances. In this article, we propose a novel distributed impedance control scheme, resulting in a flexible control design to meet the individual-potentially conflicting-impedance goals of the respective subtasks. In order to achieve more efficient use of the communication resource, we propose an event-triggered strategy for the communication between the robotic agents. Robust, stability also in interaction with unknown objects and unknown environments, is guaranteed via passivity-based control design. Simulations and experimental results show that, with the proposed communication strategy, the number of transmissions between agents can be significantly reduced while maintaining the flexibility introduced by the distributed controller.

关键词： Manipulator dynamics Task analysis Decentralized control Impedance Force Cooperative manipulators distributed robot systems multirobot systems networked robots

来源：评论

学校读者我要写书评

暂无评论

Reinforcement Learning for POMDP: Partitioned Rollout and Policy Iteration With Application to Autonomous Sequential Repair Problems

引用

IEEE robotICS AND AUTOMATION LETTERS 2020年第3期5卷 3967-3974页

作者： Bhattacharya, Sushmita Badyal, Sahil Wheeler, Thomas Gil, Stephanie Bertsekas, Dimitri Arizona State Univ REACT Lab Tempe AZ 85287 USA Arizona State Univ Comp Sci 699 S Mill Ave Tempe AZ 85287 USA MIT Engn 77 Mass Ave Cambridge MA 02139 USA Arizona State Univ Computat Decis Making 699 S Mill Ave Tempe AZ 85287 USA

In this letter we consider infinite horizon discounted dynamic programming problems with finite state and control spaces, and partial state observations. We discuss an algorithm that uses multistep lookahead, truncated rollout with a known base policy, and a terminal cost function approximation. This algorithm is also used for policy improvement in an approximate policy iteration scheme, where successive policies are approximated by using a neural network classifier. A novel feature of our approach is that it is well suited for distributed computation through an extended belief space formulation and the use of a partitioned architecture, which is trained with multiple neural networks. We apply our methods in simulation to a class of sequential repair problems where a robot inspects and repairs a pipeline with potentially several rupture sites under partial information about the state of the pipeline.

关键词： Cost function robots Approximation algorithms Maintenance engineering Aerospace electronics Pipelines Computer architecture Optimization and optimal control distributed robot systems autonomous agents search and rescue robots deep learning in robotics and automation

来源：评论

学校读者我要写书评

暂无评论

Ori-Pixel, a Multi-DoFs Origami Pixel for Modular Reconfigurable Surfaces

引用

IEEE robotICS AND AUTOMATION LETTERS 2020年第4期5卷 6988-6995页

作者： Salerno, Marco Paik, Jamie Mintchev, Stefano FOLDAWAY Hapt EPFL Innovat Pk CH-1015 Lausanne Switzerland Ecole Polytech Fed Lausanne Reconfigurable Robot Lab CH-1015 Lausanne Switzerland ETHZ Environm Robot Lab CH-8092 Zurich Switzerland WSL CH-8903 Birmensdorf Switzerland

Reconfigurable surfaces using robotic pixels can produce discretize 3D contours, shapes and motion patterns. In existing devices, the rendering resolution and richness of shapes and patterns are limited by the use of linear pixels that only produce single DoF (only change their extrusion/ height). Challenges in designing compact yet modular mechanisms and scaling their manufacturing have limited the development of more complex but versatile multi-DoFs pixels. Utilizing an origami approach, we have designed, prototyped and controlled the Ori-Pixel, a 3-DoFs parallel robot that can control its height, pitch and roll angles. These additional DoFs allow rendering a greater variety of shapes and motion primitives, replicating curved contours more accurately, and manipulating objects smaller than the actual pixel size. The origami folding joint design, multi-layer manufacturing and control of the Ori-Pixel are discussed in the letter. The workspace, stiffness, power consumption and communication rate of the Ori-pixel are experimentally characterized and confirmed with a prototype platform. We also report Ori-Pixels applications in two case studies: (i) an interactive flag consisting of a 5 x 5 pixel matrix that reacts to users' gestures;(ii) a set of 33 Ori-Pixel to morph the surface of a concept car.

关键词： Soft robot applications distributed robot systems reconfigurable surfaces origami robots

来源：评论

学校读者我要写书评

暂无评论

distributed Environmental Monitoring With Finite Element robots

引用

IEEE TRANSACTIONS ON robotICS 2020年第2期36卷 380-398页

作者： Elwin, Matthew L. Freeman, Randy A. Lynch, Kevin M. Northwestern Univ Dept Mech Engn Ctr Robot & Biosyst Evanston IL 60208 USA Northwestern Univ Northwestern Inst Complex Syst Evanston IL 60208 USA Northwestern Univ Dept Elect & Comp Engn Evanston IL 60208 USA

We introduce a distributed finite element algorithm that allows swarms of mobile robots to persistently monitor environmental quantities such as temperature or salinity. The robots deploy themselves into the environment, covering the domain and dividing it into nonoverlapping regions. Each robot estimates the environment over its own region using local measurements and communication with nearby robots. The algorithm ensures that each robot's estimate constitutes a piece of a global estimate that spans the entire domain, fuses the whole swarm's measurements, and accounts for the spatial correlation between measurement and estimation locations. By incorporating spatial correlation without requiring the transmission of measurements or measurement locations, the algorithm decouples its communication requirements from the spatial statistics of the environment and enables robots with fixed capabilities to monitor environments with different spatial correlation lengths. Analysis and simulation demonstrate that, as the number of robots increases, the memory and communication requirements of each individual robot decrease until reaching a minimum, after which the resolution of the environmental model increases. Additional robots, therefore, add computational resources to the swarm rather than introducing extra computational burdens.

关键词： Estimation Finite element analysis Sea measurements robot kinematics Memory management Correlation distributed robot systems environment monitoring and management networked robots sensor networks

来源：评论

学校读者我要写书评

暂无评论

Shape Formation in Homogeneous Swarms Using Local Task Swapping

引用

IEEE TRANSACTIONS ON robotICS 2020年第3期36卷 597-612页

作者： Wang, Hanlin Rubenstein, Michael Northwestern Univ Dept Comp Sci Evanston IL 60601 USA Northwestern Univ Dept Mech Engn Evanston IL 60601 USA

The task of shape formation in robot swarms can often be reduced to two tasks-assigning goal locations to each robot and creating a collision-free path to that goal. In this article, we present a distributed algorithm that solves these tasks concurrently, enabling a swarm of robots to move and form a shape quickly and without collision. A user can specify a desired shape as an image, send that to a swarm of identically programmed robots, and the swarm will move all robots to goal locations within the desired shape. This algorithm was executed on a swarm of up to 1024 simulated robots and a swarm of 100 real robots, showing that it reliably converges to all robots forming the shape.

关键词： Shape Collision avoidance robot kinematics Task analysis System recovery Position measurement distributed robot systems multirobot systems swarms

来源：评论

学校读者我要写书评

暂无评论

GLAS: Global-to-Local Safe Autonomy Synthesis for Multi-robot Motion Planning With End-to-End Learning

引用

IEEE robotICS AND AUTOMATION LETTERS 2020年第3期5卷 4249-4256页

作者： Riviere, Benjamin Honig, Wolfgang Yue, Yisong Chung, Soon-Jo CALTECH Pasadena CA 91125 USA

We present GLAS: Global-to-Local Autonomy Synthesis, a provably-safe, automated distributed policy generation for multi-robot motion planning. Our approach combines the advantage of centralized planning of avoiding local minima with the advantage of decentralized controllers of scalability and distributed computation. In particular, our synthesized policies only require relative state information of nearby neighbors and obstacles, and compute a provably-safe action. Our approach has three major components: i) we generate demonstration trajectories using a global planner and extract local observations from them, ii) we use deep imitation learning to learn a decentralized policy that can run efficiently online, and iii) we introduce a novel differentiable safety module to ensure collision-free operation, thereby allowing for end-to-end policy training. Our numerical experiments demonstrate that our policies have a 20%;higher success rate than optimal reciprocal collision avoidance, ORCA, across a wide range of robot and obstacle densities. We demonstrate our method on an aerial swarm, executing the policy on low-end microcontrollers in real-time.

关键词： robots Safety Collision avoidance Planning Trajectory Measurement Optimal control distributed robot systems path planning for multiple mobile robots or agents imitation learning

来源：评论

学校读者我要写书评

暂无评论

Asynchronous and Parallel distributed Pose Graph Optimization

引用

IEEE robotICS AND AUTOMATION LETTERS 2020年第4期5卷 5819-5826页

作者： Tian, Yulun Koppel, Alec Bedi, Amrit Singh How, Jonathan P. MIT Dept Aeronaut & Astronaut Cambridge MA 02139 USA US Army Res Lab Adelphi MD 20783 USA

We present Asynchronous Stochastic Parallel Pose Graph Optimization (ASAPP), the first asynchronous algorithm for distributed pose graph optimization (PGO) in multi-robot simultaneous localization and mapping. By enabling robots to optimize their local trajectory estimates without synchronization, ASAPP-offers resiliency against communication delays and alleviates the need to wait for stragglers in the network. Furthermore, ASAPP can be applied on the rank-restricted relaxations of PGO, a crucial class of non-convex Riemannian optimization problems that underlies recent breakthroughs on globally optimal PGO. Under bounded delay, we establish the global first-order convergence of ASAPP using a sufficiently small stepsize. The derived stepsize depends on the worst-case delay and inherent problem sparsity, and furthermore matches known result for synchronous algorithms when there is no delay. Numerical evaluations on simulated and real-world datasets demonstrate favorable performance compared to state-of-the-art synchronous approach, and showASAPP's resilience against a wide range of delays in practice.

关键词： SLAM distributed robot systems localization mapping optimization and optimal control

来源：评论

学校读者我要写书评

暂无评论

Simultaneous Policy and Discrete Communication Learning for Multi-Agent Cooperation

引用

IEEE robotICS AND AUTOMATION LETTERS 2020年第2期5卷 2498-2505页

作者： Freed, Benjamin Sartoretti, Guillaume Choset, Howie Carnegie Mellon Univ Robot Inst Pittsburgh PA 15213 USA Natl Univ Singapore Dept Mech Engn Singapore 117575 Singapore

Decentralized multi-agent reinforcement learning has been demonstrated to be an effective solution to large multi-agent control problems. However, agents typically can only make decisions based on local information, resulting in suboptimal performance in partially-observable settings. The addition of a communication channel overcomes this limitation by allowing agents to exchange information. Existing approaches, however, have required agent output size to scale exponentially with the number of message bits, and have been slow to converge to satisfactory policies due to the added difficulty of learning message selection. We propose an independent bitwise message policy parameterization that allows agent output size to scale linearly with information content. Additionally, we leverage aspects of the environment structure to derive a novel policy gradient estimator that is both unbiased and has a lower variance message gradient contribution than typical policy gradient estimators. We evaluate the impact of these two contributions on a collaborative multi-agent robot navigation problem, in which information must be exchanged among agents. We find that both significantly improve sample efficiency and result in improved final policies, and demonstrate the applicability of these techniques by deploying the learned policies on physical robots.

关键词： Multi-robot systems deep learning in robotics and automation distributed robot systems

来源：评论

学校读者我要写书评

暂无评论

A distributed Pipeline for Scalable, Deconflicted Formation Flying

引用

IEEE robotICS AND AUTOMATION LETTERS 2020年第4期5卷 5213-5220页

作者： Lusk, Parker C. Cai, Xiaoyi Wadhwania, Samir Paris, Aleix Fathian, Kaveh How, Jonathan P. MIT Dept Aeronaut & Astronaut Cambridge MA 02139 USA

Reliance on external localization infrastructure and centralized coordination are main limiting factors for formation flying of vehicles in large numbers and in unprepared environments. While solutions using onboard localization address the dependency on external infrastructure, the associated coordination strategies typically lack collision avoidance and scalability. To address these shortcomings, we present a unified pipeline with onboard localization and a distributed, collision-free formation control strategy that scales to a large number of vehicles. Since distributed collision avoidance strategies are known to result in gridlock, we also present a distributed task assignment solution to deconflict vehicles. We experimentally validate our pipeline in simulation and hardware. The results show that our approach for solving the optimization problem associated with formation control gives solutions within seconds in cases where general purpose solvers fail due to high complexity. In addition, our lightweight assignment strategy leads to successful and quicker formation convergence in 96-100% of all trials, whereas indefinite gridlocks occur without it for 33-50% of trials. By enabling large-scale, deconflicted coordination, this pipeline should help pave the way for anytime, anywhere deployment of aerial swarms.

关键词： distributed robot systems multi-robot systems swarms

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：