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Collision-free formation control of multiple nano-quadrotors

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arXiv 2021年

作者： Nguyen, Anh Tung Lee, Ji-Won Nguyen, Thanh Binh Hong, Sung Kyung Korea Republic of Human-Robot Interaction Research Center Korea Institute of Robotics and Technology Convergence Pohang37553 Korea Republic of Department of Control Engineering and Automation Thuyloi University 175 Tay Son Dong Da Hanoi Viet Nam

The utilisation of unmanned aerial vehicles has witnessed significant growth in real-world applications including surveillance tasks, military missions, and transportation deliveries. This letter investigates practical problems of formation control for multiple nano-quadrotor systems. To be more specific, the first aim of this work is to develop a theoretical framework for the time-varying formation flight of the multi-quadrotor system regarding anti-collisions. In order to achieve this goal, the finite cut-off potential function is devoted to avoiding collisions among vehicles in the group as well as between vehicles and an obstacle. The control algorithm navigates the group of nano-quadrotors to asymptotically reach an anticipated time-varying formation. The second aim is to implement the proposed algorithm on Crazyflies nano-quadrotors, one of the most ubiquitous indoor experimentation platforms. Several practical scenarios are conducted to tendentiously expose anti-collision abilities among group members as well as between vehicles and an obstacle. The experimental outcomes validate the effectiveness of the proposed method in the formation tracking and the collision avoidance of multiple nano-quadrotors. © 2021, CC BY.

关键词： Collision avoidance

Catastrophic Interference in Reinforcement Learning: A Solution Based on Context Division and Knowledge Distillation

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arXiv 2021年

作者： Zhang, Tiantian Wang, Xueqian Liang, Bin Yuan, Bo The Intelligent Computing Lab Shenzhen International Graduate School Tsinghua University Shenzhen518055 China The Center for Artificial Intelligence and Robotics Shenzhen International Graduate School Tsinghua University Shenzhen518055 China The Research Center for Navigation and Control Department of Automation Tsinghua University Beijing100084 China

The powerful learning ability of deep neural networks enables reinforcement learning agents to learn competent control policies directly from continuous environments. In theory, to achieve stable performance, neural networks assume i.i.d. inputs, which unfortunately does no hold in the general reinforcement learning paradigm where the training data is temporally correlated and non-stationary. This issue may lead to the phenomenon of "catastrophic interference" and the collapse in performance. In this paper, we present IQ, i.e., interference-aware deep Q-learning, to mitigate catastrophic interference in single-task deep reinforcement learning. Specifically, we resort to online clustering to achieve on-the-fly context division, together with a multi-head network and a knowledge distillation regularization term for preserving the policy of learned contexts. Built upon deep Q networks, IQ consistently boosts the stability and performance when compared to existing methods, verified with extensive experiments on classic control and Atari tasks. The code is publicly available at: https://***/Sweety-dm/Interference-aware-Deep-Q-learning. © 2021, CC BY-NC-SA.

关键词： Reinforcement learning

Smart Innovation, Systems and Technologies

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Preface

Smart Innovation, Systems and Technologies 2023年 329卷 v-vi页

作者： Ronzhin, Andrey Pshikhopov, Viacheslav St. Petersburg Federal Research Center of the Russian Academy of Sciences St. Petersburg Russia Research Institute of Robotics and Control Systems Southern Federal University Rostov-on-Don Russia

HATSDF SLAM – Hardware-accelerated TSDF SLAM for Reconfigurable SoCs

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HATSDF SLAM – Hardware-accelerated TSDF SLAM for Reconfigur...

European Conference on Mobile Robots (ECMR)

作者： Marc Eisoldt Marcel Flottmann Julian Gaal Pascal Buschermöhle Steffen Hinderink Malte Hillmann Adrian Nitschmann Patrick Hoffmann Thomas Wiemann Mario Porrmann Computer Engineering and Autonomous Robotics Groups at the Institute of Computer Science Osnabrück University Osnabrück Germany German Research Center for Artificial Intelligence (DFKI) Niedersachsen Lab Plan-Based Robot Control Group Osnabrück Germany

Simultaneous Localization and Mapping (SLAM) is one of the fundamental problems in autonomous robotics. Over the years, many approaches to solve this problem for 6D poses and 3D maps based on LiDAR sensors or depth cameras have been proposed. One of the main drawbacks of the solutions found in the literature is the required computational power and corresponding energy consumption. In this paper, we present an approach for LiDAR-based SLAM that maintains a global truncated signed distance function (TSDF) to represent the map. It is implemented on a System On Chip (SoC) with an integrated FPGA accelerator. The proposed system is able to track the position of a Velodyne VLP-16 LiDAR in real time, while maintaining a global TSDF map that can be used to create a polygonal map of the environment. We show that our implementation delivers competitive results compared to state-of-the-art algorithms while drastically reducing the power consumption compared to classical CPU or GPU-based methods.

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GCNPMDA: Human Microbe-Disease Association Prediction by Hirarchical Graph Convolutional Network with Layer Attention

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SSRN

SSRN 2024年

作者： Wu, Chuanyan Lin, Bentao Zhang, Huanghe Xu, Da Gao, Rui Song, Rui Liu, Zhi-Ping De Marinis, Yang School of Intelligent Engineering Shandong Management University No.3500 Dingxiang Road Shandong Jinan250357 China School of Control Science and Engineering Shandong University No.17923 Jingshi Road Shandong Jinan250061 China Center for Robotics School of Control Science and Engineering Shandong University No.17923 Jingshi Road Shandong Jinan250061 China School of Mathematics Science Liaocheng University No.1 Hunan Road Dongchangfu District Shandong Liaocheng252000 China Department of Clinical Sciences Lund University Solvegatan 19 Skaane Malmo22184 Sweden Oxford Centre for Diabetes Endocrinology & Metabolism Radcliffe Department of Medicine University of Oxford Old Road OxfordOX3 7LE United Kingdom

Microorganisms play a crucial role in various physiological processes. Changes in microbial communities can serve as potential biomarkers for diseases. However, the association between microorganisms and diseases is still unclear. In this paper, we introduce a novel computational model, the Graph Convolutional Network to Predict Microbe-Disease Associations (GCNPMDA), which employs layer attention mechanisms (see Figure 1). GCNPMDA integrates known microbe-disease associations, microbe-microbe similarities, and disease-disease similarities into a heterogeneous network. The model utilizes a Graph Convolutional Network (GCN) to learn embeddings for diseases and microbes. To enhance attribute information, microbe-microbe similarities are computed using Cosine similarity, Jaccard similarity, Gaussian kernel, and functional information, while disease-disease similarities are computed using Cosine similarity, Jaccard similarity, Gaussian kernel, and symptom information. Additionally, attention mechanisms are applied to combine embeddings from multiple graph convolution layers. The model's predictive effectiveness is evaluated on Human Microbe-Disease Association Database (HMDAD). Leave-one-out cross-validation (LOOCV) was conducted. The Area Under ROC Curve (AUC) of LOOCV is 0.98. The 5-fold cross-validation (5-fold CV) on HMDAD yields average AUC of 0.98 ± 0.009. Furthermore, we carried out a case study of type 2 diabetes (T2D), inflammatory bowel disease (IBD), and rheumatoid arthritis. Based on existing literature evidence, it was confirmed that 6, 7, and 7 of the top-10 inferred microbes have established associations with T2D, IBD, and rheumatoid arthritis, respectively. GCNPMDA demonstrates potential efficacy in identifying disease-related microbes, offering a promising tool to uncover the intricate relationship between microorganisms and their human hosts. © 2024, The Authors. All rights reserved.

关键词： Forecasting

Learning compliant grasping and manipulation by teleoperation with adaptive force control

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arXiv 2021年

作者： Zeng, Chao Li, Shuang Jiang, Yiming Li, Qiang Chen, Zhaopeng Yang, Chenguang Zhang, Jianwei Department of Informatics Universiẗat Hamburg Germany National Engineering Laboratory for Robot Visual Perception and Control Hunan University China Center for Cognitive Interaction Technology Bielefeld University Germany Bristol Robotics Laboratory University of the West of England United Kingdom

In this work, we focus on improving the robot's dexterous capability by exploiting visual sensing and adaptive force control. TeachNet, a vision-based teleoperation learning framework, is exploited to map human hand postures to a multifingered robot hand. We augment TeachNet, which is originally based on an imprecise kinematic mapping and position-only servoing, with a biomimetic learning-based compliance control algorithm for dexterous manipulation tasks. This compliance controller takes the mapped robotic joint angles from TeachNet as the desired goal, computes the desired joint torques. It is derived from a computational model of the biomimetic control strategy in human motor learning, which allows adapting the control variables (impedance and feedforward force) online during the execution of the reference joint angle trajectories. The simultaneous adaptation of the impedance and feedforward profiles enables the robot to interact with the environment in a compliant manner. Our approach has been verified in multiple tasks in physics simulation, i.e., grasping, opening-a-door, turning-a-cap, and touching-a-mouse, and has shown more reliable performances than the existing position control and the fixed-gain-based force control approaches. Copyright © 2021, The Authors. All rights reserved.

关键词： Remote control

Catch Planner: Catching High-Speed Targets in the Flight

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arXiv 2023年

作者： Yu, Huan Wang, Pengqin Wang, Jin Ji, Jialin Zheng, Zhi Tu, Jie Lu, Guodong Meng, Jun Zhu, Meixin Shen, Shaojie Gao, Fei The State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou310027 China The Engineering Research Center for Design Engineering and Digital Twin of Zhejiang Province School of Mechanical Engineering Zhejiang University Hangzhou310027 China Robotics Institute of Zhejiang University Hangzhou310027 China Hong Kong The State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Zhejiang University Hangzhou310027 China Huzhou Institute of Zhejiang University Huzhou313000 China School of Electrical Engineering Zhejiang University Hangzhou310027 China The Hong Kong University of Science and Technology Guangzhou China

Catching high-speed targets in the flight is a complex and typical highly dynamic task. However, existing methods require manual setting of catching height or time, resulting in lacks of adaptability and flexibility and cannot deal with multiple targets. To bridge this gap, we propose a planning-with-decision scheme called Catch Planner. For sequential decision making, a lightweight policy search method based on deep reinforcement learning is proposed. It is jointly trained with the motion planning and decoupled from physics to speed up training. For motion planning, we propose a trajectory optimization method that jointly optimizes the highly coupled catching time and terminal state. The core is the flexible-terminal constraint transcription. It converts the three unique constraints of catching into differentiable metrics, including equality constraints for terminal position and time, and inequality constraints that enable reasonable terminal position offset and attitude relaxation. In addition, sparse parameterization based on MINCO class considers both dynamic feasibility and collision avoidance constraints. As a result, a generally constrained quadrotor planning problem is transformed into an unconstrained optimization that can be solved reliably and efficiently. We also propose an online iterative optimization method for predicting differentiable trajectories of targets. Catch Planner provides a new paradigm for the combination of learning and planning, where all algorithms can be run in real time onboard at 100hz. Extensive experiments are carried out in real-world and simulated scenes to verify the robustness and expansibility when facing a variety of high-speed flying targets. Copyright © 2023, The Authors. All rights reserved.

关键词： Decision making

Full-pose Trajectory Tracking of Overactuated Multi-Rotor Aerial Vehicles with Limited Actuation Abilities

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TechRxiv

TechRxiv 2023年

作者： Hamandi, Mahmoud Al-Ali, Ismail Seneviratne, Lakmal Franchi, Antonio Zweiri, Yahya The Department of Aerospace Engineering Khalifa University of Science and Technology Abu Dhabi United Arab Emirates The Department of Mechanical Engineering Khalifa University Abu Dhabi United Arab Emirates Khalifa University of Science and Technology Abu Dhabi United Arab Emirates The Robotics and Mechatronics Lab Faculty of Electrical Engineering Mathematics and Computer Science University of Twente Enschede Netherlands The Department of Computer Control and Management Engineering Sapienza University of Rome Rome00185 Italy LAAS CNRS Université de Toulouse Toulouse31000 France Khalifa University Abu Dhabi United Arab Emirates Center for Artificial Intelligence and Robotics New York University Abu Dhabi Saadiyat Island Abu Dhabi129188 United Arab Emirates

This paper presents a novel optimization-based full-pose trajectory tracking method to control overactuated multirotor aerial vehicles with limited actuation abilities. The proposed method allocates feasible control inputs to track a reference trajectory, while ensuring the tracking of the reference position, and while tracking the closest feasible attitude. The optimization simultaneously searches for a feasible trajectory and corresponding feasible control inputs from the infinite possible solutions, while ensuring smooth control inputs. The proposed real-time algorithm is tested in extensive simulation on multiple platforms with fixed and actuated propellers. The simulation experiments show the ability of the proposed approach to exploit the complex set of feasible forces and moments of overactuated platforms while allocating smooth feasible control inputs. © 2023, CC BY.

关键词： Trajectories

基于自解耦三明治结构的横向运动栅场效应晶体管MEMS微力传感器

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Engineering 2023年第2期21卷 61-74,M0004页

作者：高文迪乔智霞韩香广王小章 Adnan Shakoor 刘存朗卢德江杨萍赵立波王永录王久洪蒋庄德孙东 State Key Laboratory for Manufacturing Systems Engineering International Joint Laboratory for Micro/Nano Manufacturing and Measurement TechnologiesOverseas Expertise Introduction Center for Micro/Nano Manufacturing and Nano Measurement Technologies Discipline InnovationXi’an Jiaotong University(Yantai)Research Institute for Intelligent Sensing Technology and SystemSchool of Mechanical EngineeringXi’an Jiaotong UniversityXi’an 710049China Shandong Laboratory of Yantai Advanced Materials and Green Manufacturing Yantai 265503China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of TechnologyBeijing 100081China State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150006China Eleventh Research Institute Sixth Academy of China Aerospace Science and Technology Co.Xi’an 710100China Department of Control and Instrumentation Engineering King Fahd University of Petroleum and MineralsDhahran 31261Saudi Arabia Department of Biomedical Engineering City University of Hong KongHong Kong 999077China

本文介绍了一种基于横向可移动栅极场效应晶体管(LMGFET)的新型微型力传感器的开发。提出了一种精确的电气模型,用于小型LMGFET器件的性能评估,与以前的模型相比,其精度有所提高。采用了一种新型三明治结构,该结构由一个金交叉解耦栅阵... 详细信息

本文介绍了一种基于横向可移动栅极场效应晶体管(LMGFET)的新型微型力传感器的开发。提出了一种精确的电气模型,用于小型LMGFET器件的性能评估,与以前的模型相比,其精度有所提高。采用了一种新型三明治结构,该结构由一个金交叉解耦栅阵列层和两个软光阻层SU-8组成。通过所提出的双差分传感结构,LMGFET横向工作在垂直干扰下的输出电流被大大消除,所提出传感器的相对输出误差从4.53%(传统差分结构)降低到0.01%。提出了一种实用的传感器制造工艺,并对其进行了模拟。基于LMGFET的力传感器的灵敏度为4.65μA·nN^(-1),可与垂直可移动栅极场效应晶体管(VMGFET)器件相媲美,但非线性度提高了0.78%,测量范围扩大了±5.10μN。这些分析为LMGFET器件的电气和结构参数提供了全面的设计优化,并证明了所提出的传感器在生物医学显微操作应用中具有良好的力传感潜力。

关键词：力传感器场效应晶体管横向运动三明治结构电气模型显微操作非线性度双差分