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A Resilient Framework for 5G-Edge-Connected UAVs based on Switching Edge-MPC and Onboard-PID Control

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A Resilient Framework for 5G-Edge-Connected UAVs based on Sw...

IEEE International Symposium on Industrial Electronics (ISIE)

作者： Gerasimos Damigos Achilleas Santi Seisa Sumeet Gajanan Satpute Tore Lindgren George Nikolakopoulos Ericsson Research Luleå Department of Computer Electrical and Space Engineering Robotics and AI Group Luleå University of Technology Luleå

In recent years, the need for resources for handling processes with high computational complexity for mobile robots is becoming increasingly urgent. More specifically, robots need to autonomously operate in a robust and continuous manner, while keeping high performance, a need that led to the utilization of edge computing to offload many computationally demanding and time-critical robotic procedures. However, safe mechanisms should be implemented to handle situations when it is not possible to use the offloaded procedures, such as if the communication is challenged or the edge cluster is not available. To this end, this article presents a switching strategy for safety, redundancy, and optimized behavior through an edge computing-based Model Predictive Controller (MPC) and a low level onboard-PID controller for edge-connected Unmanned Aerial Vehicles (UAVs). The switching strategy is based on communication Key Performance Indicators (KPIs) over 5G to decide whether the UAV should be controlled by the edge-based or have a safe fallback based on the onboard controller.

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Environmental Awareness Dynamic 5G QoS for Retaining Real Time Constraints in Robotic Applications

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Environmental Awareness Dynamic 5G QoS for Retaining Real Ti...

IEEE International Conference on Robotics and Automation (ICRA)

作者： Gerasimos Damigos Akshit Saradagi Sara Sandberg George Nikolakopoulos Ericsson Research Ericsson AB Luleå Sweden Department of Computer Electrical and Space Engineering Robotics and AI Group Luleå University of Technology Luleå Sweden

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

The fifth generation (5G) cellular network technology is mature and increasingly utilized in many industrial and robotics applications, while an important functionality is the advanced Quality of Service (QoS) features. Despite the prevalence of 5G QoS discussions in the related literature, there is a notable absence of real-life implementations and studies concerning their application in time-critical robotics scenarios. This article considers the operation of time-critical applications for 5G-enabled unmanned aerial vehicles (UAVs) and how their operation can be improved by the possibility to dynamically switch between QoS data flows with different priorities. As such, we introduce a robotics oriented analysis on the impact of the 5G QoS functionality on the performance of 5G-enabled UAVs. Furthermore, we introduce a novel framework for the dynamic selection of distinct 5G QoS data flows that is autonomously managed by the 5G-enabled UAV. This problem is addressed in a novel feedback loop fashion utilizing a probabilistic finite state machine (PFSM). Finally, the efficacy of the proposed scheme is experimentally validated with a 5G-enabled UAV in a real-world 5G stand-alone (SA) network. https://***/watch?v=lWtMOlVMEFI&t=1s

关键词： Feedback loop 5G mobile communication Service robots Quality of service Switches Autonomous aerial vehicles Probabilistic logic

Reactive Multi-agent Coordination using Auction-based Task Allocation and Behavior Trees

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arXiv 2023年

作者： Dahlquist, Niklas Lindqvist, Björn Saradagi, Akshit Nikolakopoulos, George The Robotics and Ai Group Department of Computer Electrical and Space Engineering Luleå University of Technology LuleåSE-97187 Sweden

This article presents an architecture for multi-agent task allocation and task execution, through the unification of a market-inspired task-auctioning system with Behavior Trees for managing and executing lower level behaviors. We consider the scenario with multi-stage tasks, such as 'pick and place', whose arrival times are not known a priori. In such a scenario, a coordinating architecture is expected to be reactive to newly arrived tasks and the resulting rerouting of agents should be dependent on the stage of completion of their current multi-stage tasks. In the novel architecture proposed in this article, a central auctioning system gathers bids (cost-estimates for completing currently available tasks) from all agents, and solves a combinatorial problem to optimally assign tasks to agents. For every agent, it's participation in the auctioning system and execution of an assigned multi-stage task is managed using behavior trees, which switch among several well-defined behaviors in response to changing scenarios. The auctioning system is run at a fixed rate, allowing for newly added tasks to be incorporated into the auctioning system, which makes the solution reactive and allows for the rerouting of some agents (subject to the states of the behavior trees). We demonstrate that the proposed architecture is especially well-suited for multistage tasks, where high costs are incurred when rerouting agents who have completed one or more stages of their current tasks. The scalability analysis of the proposed architecture reveals that it scales well with the number of agents and number of tasks. The proposed framework is experimentally validated in multiple scenarios in a lab environment. A video of a demonstration can be viewed at: https://***/ZdEkoOOlB2g. Copyright © 2023, The Authors. All rights reserved.

关键词： Architecture

Environmental Awareness Dynamic 5G QoS for Retaining Real Time Constraints in Robotic Applications

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arXiv 2024年

作者： Damigos, Gerasimos Saradagi, Akshit Sandberg, Sara Nikolakopoulos, George Ericsson Research Ericsson AB Luleå Sweden The Robotics and AI Group Department of Computer Electrical and Space Engineering Luleå University of Technology Luleå Sweden

关键词： Quality of service

PACED-5G: Predictive Autonomous Control using Edge for Drones over 5G

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PACED-5G: Predictive Autonomous Control using Edge for Drone...

International Conference on Unmanned aircraft Systems (ICUAS)

作者： Viswa Narayanan Sankaranarayanan Gerasimos Damigos Achilleas Santi Seisa Sumeet Gajanan Satpute Tore Lindgren George Nikolakopoulos Department of Computer Science Electrical and Space Engineering Robotics and AI Group Luleå University of Technology Luleå Ericsson Research Luleå

With the advent of technologies such as Edge computing, the horizons of remote computational applications have broadened multi-dimensionally. Autonomous Unmanned Aerial Vehicle (UAV) mission is a vital application to utilize remote computation to catalyze its performance. However, offloading computational complexity to a remote system increases the latency in the system. Though technologies such as 5G networking minimize communication latency, the effects of latency on the control of UAVs are inevitable and may destabilize the system. Hence, it is essential to consider the delays in the system and compensate for them in the control design. Therefore, we propose a novel Edge-based predictive control architecture enabled by 5G networking, PACED-5G (Predictive Autonomous Control using Edge for Drones over 5G). In the proposed control architecture, we have designed a state estimator for estimating the current states based on the available knowledge of the time-varying delays, devised a Model Predictive controller (MPC) for the UAV to track the reference trajectory while avoiding obstacles, and provided an interface to offload the high-level tasks over Edge systems. The proposed architecture is validated in two experimental test cases using a quadrotor UAV.

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A Resilient Framework for 5G-Edge-Connected UAVs based on Switching Edge-MPC and Onboard-PID Control

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arXiv 2023年

作者： Damigos, Gerasimos Seisa, Achilleas Santi Satpute, Sumeet Gajanan Lindgren, Tore Nikolakopoulos, George Ericsson Research Luleå Sweden The Robotics and AI Group Department of Computer Electrical and Space Engineering Luleå University of Technology Luleå Sweden

In recent years, the need for resources for handling processes with high computational complexity for mobile robots is becoming increasingly urgent. More specifically, robots need to autonomously operate in a robust and continuous manner, while keeping high performance, a need that led to the utilization of edge computing to offload many computationally demanding and time-critical robotic procedures. However, safe mechanisms should be implemented to handle situations when it is not possible to use the offloaded procedures, such as if the communication is challenged or the edge cluster is not available. To this end, this article presents a switching strategy for safety, redundancy, and optimized behavior through an edge computing-based Model Predictive Controller (MPC) and a low-level onboard-PID controller for edge-connected Unmanned Aerial Vehicles (UAVs). The switching strategy is based on the communication Key Performance Indicators (KPIs) over 5G to decide whether the UAV should be controlled by the edge-based or have a safe fallback based on the onboard controller. © 2023, CC BY.

关键词： Three term control systems

PACED-5G: Predictive Autonomous Control using Edge for Drones over 5G

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arXiv 2023年

作者： Sankaranarayanan, Viswa Narayanan Damigos, Gerasimos Seisa, Achilleas Santi Satpute, Sumeet Gajanan Lindgren, Tore Nikolakopoulos, George The Robotics and AI Group Department of Computer Electrical and Space Engineering Luleå University of Technology Luleå Sweden Ericsson Research Luleå Sweden

With the advent of technologies such as Edge computing, the horizons of remote computational applications have broadened multidimensionally. Autonomous Unmanned Aerial Vehicle (UAV) mission is a vital application to utilize remote computation to catalyze its performance. However, offloading computational complexity to a remote system increases the latency in the system. Though technologies such as 5G networking minimize communication latency, the effects of latency on the control of UAVs are inevitable and may destabilize the system. Hence, it is essential to consider the delays in the system and compensate for them in the control design. Therefore, we propose a novel Edge-based predictive control architecture enabled by 5G networking, PACED-5G (Predictive Autonomous Control using Edge for Drones over 5G). In the proposed control architecture, we have designed a state estimator for estimating the current states based on the available knowledge of the time-varying delays, devised a Model Predictive controller (MPC) for the UAV to track the reference trajectory while avoiding obstacles, and provided an interface to offload the high-level tasks over Edge systems. The proposed architecture is validated in two experimental test cases using a quadrotor UAV. © 2023, CC BY.

关键词： Drones

Intelligence, Surveillance and Reconnaissance Task Specifications in Temporal Logics

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Intelligence, Surveillance and Reconnaissance Task Specifica...

MILCOM, Military Communications Conference

作者： Laura L. Pullum Sumit Kumar Jha Rickard Ewetz AI R&D The POM Group LLC Oak Ridge USA Computer Science Department Florida International University Miami USA Electrical and Computer Engineering University of Florida Gainesville USA

ISBN: (数字)9798350374230

ISBN: (纸本)9798350374247

The DoD desires to incorporate autonomous systems into its capabilities. These systems are notoriously difficult to validate, though they require assurance to be used. One area of interest is Intelligence, Surveillance and Reconnaissance (ISR), whose tasks are typically written in natural language. Temporal logics, e.g., Linear Temporal Logic (LTL) and Signal Temporal Logic (STL), have been used in robotics, cyber-physical systems, and electronics design domains to provide confidence and assurance in the correctness, reliability, and safety of system designs. ISR tasks written as temporal logic specifications enables their properties to be validated. We found that recent natural language to LTL/STL specification translators incorrectly translate natural language ISR descriptions. In this paper, we provide manual translations of ten ISR tasks to temporal logic and validate the specifications. We believe this is the first research to provide a set of ISR tasks specified in temporal logic and checked by a satisfiability solver.

关键词： Surveillance Manuals Reconnaissance Cyber-physical systems Reliability engineering US department of Defense Safety Logic System analysis and design Robots

Automatic Face Recognition Using Legendre Moments and Auto-Associative Memory

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Automatic Face Recognition Using Legendre Moments and Auto-A...

Intelligent Cyber Physical Systems and Internet of Things (ICoICI), International Conference on

作者： Jay Kant Pratap Singh Yadav Zainual Abdin Jaffery Laxman Singh Electrical Engineering Department Jamia Millia Islamia Central University New Delhi India Computer Science & Engg. (AI&ML) Department Krishna Group of Institutions Ghaziabad India

ISBN: (数字)9798331540661

ISBN: (纸本)9798331540678

Face recognition involves identifying or verifying a person based on their facial features. This study introduces a method using Legendre moments for feature extraction combined with an auto-associative memory approach, specifically a “Multi-connection Hopfield Neural Network” to enhance accuracy and robustness. The method uses a single image per person, optimizing both the computation time and memory usage. Tested on the ORL (Olivetti Research Laboratories) dataset, the approach achieved a 99.0% recognition rate, outperforming other state-of-the-art methods. Additionally, the system demonstrated resilience to noise, maintaining a 95.75 % rate with 50 % random noise.

关键词： Training Associative memory Accuracy Face recognition Noise Hopfield neural networks Feature extraction Robustness Noise measurement Resilience