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作者： Mangesius, Herbert Sobotka, Marion Stursberg, Olaf Institute of Automatic Control Engineering Technische Universität München Germany Control and System Theory Universität Kassel Germany

ISBN: (纸本)9783902661937

A recently introduced new class of multi-agent transportation planning is considered. Several agents have to cooperate in order to transfer a passive agent from its initial configuration to a goal configuration. Docking events refer to discrete decisions, whereas the individual agents are governed by nonlinear continuous dynamics. Modeling this problem in a hybrid optimal control framework allows computing a solution using a centralized, hierarchical optimization algorithm. Relatively well performing solutions can be found with much lower computational time by decoupling the discrete-event level from the continuous processes. This is accomplished by introducing a feedback controller based on a consensus protocol into the hierarchical optimization structure. The scalability and optimality of this approach is examined for varying information topologies in the consensus protocol and controller gains. © 2011 IFAC.

关键词： Multi agent systems

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Consensus Based Decoupling in Hybrid Optimization of Cooperative Transportation Planning

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IFAC Proceedings Volumes 2011年第1期44卷 9543-9548页

作者： Herbert Mangesius Marion Sobotka Olaf Stursberg Institute of Automatic Control Engineering Technische Universität München Germany Control and System Theory Universität Kassel Germany

Abstract A recently introduced new class of multi-agent transportation planning is considered. Several agents have to cooperate in order to transfer a passive agent from its initial configuration to a goal configuration. Docking events refer to discrete decisions, whereas the individual agents are governed by nonlinear continuous dynamics. Modeling this problem in a hybrid optimal control framework allows computing a solution using a centralized, hierarchical optimization algorithm. Relatively well performing solutions can be found with much lower computational time by decoupling the discrete-event level from the continuous processes. This is accomplished by introducing a feedback controller based on a consensus protocol into the hierarchical optimization structure. The scalability and optimality of this approach is examined for varying information topologies in the consensus protocol and controller gains.

关键词： Hybrid systems modeling and control Multi-agent systems Cooperative systems

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Initialization concepts for optimal control of hybrid systems

Initialization concepts for optimal control of hybrid system...

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作者： Passenberg, Benjamin Kröninger, Magnus Schnattinger, Georg Leibold, Marion Stursberg, Olaf Buss, Martin Institute of Automatic Control Engineering Technische Universität München Munich Germany Institute for High-Frequency Engineering Technische Universität München Munich Germany Institute of Control and System Theory University of Kassel Kassel Germany

ISBN: (纸本)9783902661937

Indirect methods solve optimal control problems for hybrid systems with high precision, but they are difficult to initialize. To overcome the initialization difficulties, two different concepts based on direct methods are presented. In the first approach, the hybrid optimal control problem is solved by a direct method until the precision is sufficient for a successful initialization of the indirect method. The second approach decomposes the hybrid optimal control problem into non-hybrid subproblems, where each subproblem can be initialized separately by a direct method. This results in a significantly higher robustness of the initialization compared to the first approach. However, the precision of the solution with the indirect method achieved in the first approach is higher. The two concepts are compared in a numerical example. © 2011 IFAC.

关键词： Hybrid systems

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Interoperability platform for virtual and remote laboratories

Interoperability platform for virtual and remote laboratorie...

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2012 9th International Conference on Remote Engineering and Virtual Instrumentation, REV 2012

作者： Fernandez, J. Bragós, R. Cabrera, M. Abelló, A. Arroyo, N. González, D. Garófano, F. Cortés, A. Fabra, A. Escola Tècnica Superior d'Enyineria de Telecomunicacions de Barcelona/Telecom-BCN Universitat Politècnica de Catalunya - BarcelonaTech Barcelona Spain Facultat d'Informàtica de Barcelona Universitat Politècnica de Catalunya - BarcelonaTech Barcelona Spain Everis Av. Diagonal 605 E-08028 Barcelona Spain Department of Automatic Control Universitat Politenica de Catalunya - BarcelonaTech C/ Jordi Girona 1-3 E-08034 Barcelona Spain Department of Electronic Engineering Universitat Politenica de Catalunya-BarcelonaTech C/ Jordi Girona 1-3 E-08034 Barcelona Spain Department of Signal Theory and Communications Universitat Politenica de Catalunya-BarcelonaTech C/ Jordi Girona 1-3 E-08034 Barcelona Spain Department of Service and Information System Engineering Universitat Politenica de Catalunya-BarcelonaTech C/ Jordi Girona 1-3 E-08034 Barcelona Spain

ISBN: (纸本)9781467325424

This communication describes the interoperability platform that has been developed at the Technical University of Catalonia (UPC) to integrate the access to different virtual and remote laboratories. Up to eleven laboratories that belong to the GilabViR group of interest in virtual and remote laboratories in our University have been analyzed to generate a set of specifications and develop the architecture and the applications that would allow its access through the university LMS system. Although the current LMS platform (Atenea) is implemented over Moodle 1.9, the new modules have been developed using Moodle 2.2.1 given that the migration to this version will be done in the next months. The interoperability platform defines new Moodle modules that allow the interconnection between the LMS system and a set of laboratories and provide the intrinsic LMS features (user identification, activity recording, educational materials repository, ...). There are modules that allow the interaction with a web service interface giving access to the laboratory, with Java applet virtual laboratories and others that make possible the link with LabView based remote laboratories, all of them with recording of experiment parameters in SQL databases placed in the experiment servers. © 2012 IEEE.

关键词： Interoperability

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Initialization Concepts for Optimal control of Hybrid systems

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IFAC Proceedings Volumes 2011年第1期44卷 10274-10280页

作者： Benjamin Passenberg Magnus Kröninger Georg Schnattinger Marion Leibold Olaf Stursberg Martin Buss Institute of Automatic Control Engineering Technische Universität München Munich Germany Institute for High-Frequency Engineering Technische Universität München Munich Germany Institute of Control and System Theory University of Kassel Kassel Germany

Abstract Indirect methods solve optimal control problems for hybrid systems with high precision, but they are difficult to initialize. To overcome the initialization difficulties, two different concepts based on direct methods are presented. In the first approach, the hybrid optimal control problem is solved by a direct method until the precision is sufficient for a successful initialization of the indirect method. The second approach decomposes the hybrid optimal control problem into non-hybrid subproblems, where each subproblem can be initialized separately by a direct method. This results in a significantly higher robustness of the initialization compared to the first approach. However, the precision of the solution with the indirect method achieved in the first approach is higher. The two concepts are compared in a numerical example.

关键词： optimal control hybrid systems initialization indirect optimization methods autonomous vehicles

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The Minimum Principle for Time-Varying Hybrid systems with State Switching and Jumps

The Minimum Principle for Time-Varying Hybrid Systems with S...

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IEEE Conference on Decision and control

作者： Benjamin Passenberg Marion Leibold Olaf Stursberg Martin Buss Institute of Automatic Control Department of Electrical Engineering and Information Technology Technische Universitat Munchen Munchen Germany Institute of Control and System Theory Department of Electrical Engineering and Computer Science University of Kassel Kassel Germany

ISBN: (纸本)9781612848006

The hybrid minimum principle (HMP) is extended to hybrid systems with autonomous (internally forced) switching on switching manifolds, controlled (externally forced) switching, jumps of the continuous state when switching, and time-varying functions for specifying the continuous and discrete dynamics. The formulation of the hybrid optimal control problem (HOCP) includes running, switching, and terminal costs. The HMP provides necessary optimality conditions for a solution of the HOCP and can be used as basis for developing numerical optimal control algorithms.

关键词： minimum principle hybrid systems switching time varying Manifolds

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Solution of a multi-agent transport problem by hybrid optimization

Solution of a multi-agent transport problem by hybrid optimi...

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作者： Mangesius, Herbert Sobotka, Marion Stursberg, Olaf Institute of Automatic Control Engineering Technische Universität München Germany Control and System Theory Universität Kassel Germany

ISBN: (纸本)9783902661791

As reported in earlier work, methods for hybrid optimal control can be used for optimal path planning of multi-agent systems. This paper considers a multi-vehicle transport scenario in which a hybrid model is used to represent the continuous dynamics of the vehicle motion and the dynamics arising from the docking-events between vehicles and a transported object. The decisions on the vehicles' heading and speed as well as on the docking sequence are strongly coupled and require a tailored numeric solution. The paper proposes a hierarchical solution strategy with three layers: on the upper layer a discrete event sequencing problem is solved, the middle layer determines docking positions and times, and the lower layer provides optimal vehicle paths. By a combination of graph search and embedded continuous optimal control, the efficiency of obtaining (sub-)optimal solutions is improved. The algorithm is illustrated by a scenario in which three vehicles transport one object.

关键词： Multi agent systems

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Flat inputs in the MIMO case

Flat inputs in the MIMO case

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作者： Waldherr, Steffen Zeitz, Michael Institute for Systems Theory and Automatic Control Universität Stuttgart Pfaffenwaldring 9 Stuttgart Germany Institute for System Dynamics Universität Stuttgart Pfaffenwaldring 9 Stuttgart Germany

ISBN: (纸本)9783902661807

We extend the notion of flat inputs, which we previously introduced in the SISO case, towards non-linear MIMO systems. For MIMO systems, we have to distinguish two cases for differential flatness, corresponding to feedback-linearizability either by a static or a quasistatic feedback. For the first case, the construction of flat inputs can be solved easily by means of the observability codistribution and indices. The second case remains an open problem, and we illustrate with an example that flat inputs can even be constructed for non-observable systems. In addition, we also discuss the problem of realizing flat inputs as physical actuators in mechanical systems. © 2010 IFAC.

关键词： Feedback

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Solution of a Multi-Agent Transport Problem by Hybrid Optimization

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IFAC Proceedings Volumes 2010年第12期43卷 432-437页

作者： Herbert Mangesius Marion Sobotka Olaf Stursberg Institute of Automatic Control Engineering Technische Universität München Germany Control and System Theory Universität Kassel Germany

As reported in earlier work, methods for hybrid optimal control can be used for optimal path planning of multi-agent systems. This paper considers a multi-vehicle transport scenario in which a hybrid model is used to represent the continuous dynamics of the vehicle motion and the dynamics arising from the docking-events between vehicles and a transported object. The decisions on the vehicles’ heading and speed as well as on the docking sequence are strongly coupled and require a tailored numeric solution. The paper proposes a hierarchical solution strategy with three layers: on the upper layer a discrete event sequencing problem is solved, the middle layer determines docking positions and times, and the lower layer provides optimal vehicle paths. By a combination of graph search and embedded continuous optimal control, the efficiency of obtaining (sub-)optimal solutions is improved. The algorithm is illustrated by a scenario in which three vehicles transport one object.

关键词： Multi-agent systems discrete event systems optimal control hybrid dynamics

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Improving motion of robotic manipulators by an embedded optimizer

Improving motion of robotic manipulators by an embedded opti...

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2010 IEEE International Conference on Automation Science and Engineering, CASE 2010

作者： Ding, Hao Schnattinger, Georg Passenberg, Benjamin Stursberg, Olaf Institute of Control and System Theory Dept. of Electrical Eng. and Computer Science University of Kassel Germany Institute for High-Frequency Engineering Technische Universität München 80290 München Germany Institute of Automatic Control Engineering Technische Universität München 80290 München Germany

ISBN: (纸本)9781424454471

A control scheme for efficient and safe path and motion planning of industrial robots is proposed. For motion planning of robotic manipulators, an offline method is developed which generates feasible trajectories of the joints such that a given performance criterion is maximized. The planning problem considering obstacle avoidance is converted to an optimization problem with interior points for the joint angles to guide the trajectory away from obstacles. The interior points are generated from an approach of rapidly exploring random trees (RRTs] in the configuration and time space. The method is applied to a 3-DOF-robot with known dynamic moving obstacles and evaluated afterwards. Online motion generation of industrial robots is then discussed for a human robot interaction scenario. ©2010 IEEE.

关键词： Motion planning

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