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IEEE International Conference on robotics and Automation (ICRA)

作者： Iván D. Changoluisa Caiza Ana Milas Marco A. Montes Grova Francisco Javier Pérez-Grau Tamara Petrovic University of Zagreb Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia Advanced Center for Aerospace Technologies (CATEC) Aerospace Technology Park of Andalusia Seville Spain

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Autonomous exploration using unmanned aerial vehicles (UAVs) is essential for various tasks such as building inspections, rescue operations, deliveries, and warehousing. However, there are two main limitations to previous approaches: they may not be able to provide a complete map of the environment and assume that the map built during exploration is accurate enough for safe navigation, which is usually not the case. To address these limitations, a novel exploration method is proposed that combines frontier-based exploration with a collector strategy that achieves global exploration and complete map creation. In each iteration, the collector strategy stores and validates frontiers detected during exploration and selects the next best frontier to navigate to. The collector strategy ensures global exploration by balancing the exploitation of a known map with the exploration of unknown areas. In addition, the online path replanning ensures safe navigation through the map created during motion. The performance of the proposed method is verified by exploring 3D simulation environments in comparison with the state-of-the-art methods. Finally, the proposed approach is validated in a real-world experiment.

关键词： Three-dimensional displays Video on demand Navigation Warehousing Buildings Inspection Web sites

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Dynamic Adaptation Gains for Nonlinear systems with Unmatched Uncertainties

arXiv

引用

arXiv 2023年

作者： Lopez, Brett T. Slotine, Jean-Jacques Verifiable and Control-Theoretic Robotics Laboratory University of California Los Angeles Los AngelesCA United States Nonlinear Systems Laboratory Massachusetts Institute of Technology CambridgeMA United States

We present a new direct adaptive control approach for nonlinear systems with unmatched and matched uncertainties. The method relies on adjusting the adaptation gains of individual unmatched parameters whose adaptation transients would otherwise destabilize the closed-loop system. The approach also guarantees the restoration of the adaptation gains to their nominal values and can readily incorporate direct adaptation laws for matched uncertainties. The proposed framework is general as it only requires stabilizability for all possible models. Copyright © 2023, The Authors. All rights reserved.

关键词： Nonlinear systems

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A Task Offloading Method for Smart Instruments Based on Edge Computing 7

A Task Offloading Method for Smart Instruments Based on Edge...

引用

7th International Conference on Computer and Information Processing Technology, ISCIPT 2022

作者： Liu, Yang Zhang, Tianshi Xiao, Jinchao Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110000 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

The development of edge computing technology has enabled the promotion of traditional industrial instruments to smart instruments with collaborative working capabilities. Smart instruments are widely distributed in industrial production sites and can monitor working conditions in real time. Implementing multi-instruments collaborative computing on the edge side will help improve the responsiveness of industrial systems and reduce instrument maintenance costs. This paper proposes a task offloading method for smart instruments based on edge computing. Firstly, the instrument capability is evaluated based on the characteristics of the smart instrument. Then, the task scheduling of smart instruments is optimized based on Lyapunov algorithm. Finally the simulation verification is carried out. The experimental results show that the algorithm in this paper has a significant effect on improving computing power and reducing resource occupancy. © 2022 Copyright for this paper by its authors.

关键词： Edge computing

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Deployment Schemes of In-Band Management Mode Based on Industrial SDN Network

Deployment Schemes of In-Band Management Mode Based on Indus...

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2022 International Conference on 6G Communications and IoT Technologies, 6GIoTT 2022

作者： Piao, Jinnan Li, Dong Yang, Ming Liu, Jindi Yu, Xueting Li, Zhibo Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

ISBN: (纸本)9781665454841

When software defined network (SDN) is used to deploy the industrial control network, the deployment schemes are different in actual according to the different industrial production business, environment and capital cost. In this paper, we use the in-band management mode to deploy the SDN network in an industrial environment. We design four deployment schemes of the in-band management mode for the industrial SDN network according to the specific requirements of industrial environment and propose an algorithm for controller location selection in the in-band management network For the four schemes and the algorithm, we use the controller and switches to build a simulation environment according to different schemes and compare the performance between the in-band management and out-of-band management, which shows that the in-band management mode can set up a normal SDN industrial network with applicable network scale and throughput. © 2022 IEEE.

关键词： Internet of things

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On Networked Dynamical systems with Heterogeneous Constraints:Equilibrium Points and Stability 41

On Networked Dynamical Systems with Heterogeneous Constraint...

引用

第41届中国控制会议

作者： Qichao Ma Jiahu Qin Yu Kang Huijun Gao Department of Automation University of Science and Technology of China Institute of Artificial Intelligence Hefei Comprehensive National Science Center Institute of Advanced Technology University of Science and Technology of China Research Institute of Intelligent Control and Systems and the State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,we investigate multi-agent systems with heterogeneous constraints,which can represent the heuristic beliefs of the agents towards an issue or the physical constraints of the *** typical example is a group of interacting unmanned aerial vehicles in a complex environment with multiple physical *** a result of the heterogeneity of the constraints,an equilibrium point may not exist and is presumably to be a dissensus point when it *** investigate the existence of equilibrium points from the perspective of Kakutani's fixed point theory for a set-valued *** also prove the local/global stability of certain equilibrium ***,a special case that the constraints are homogeneous is taken into *** constrains are assumed to take interval forms with nonempty *** is proved that consensus can be achieved globally and asymptotically for this *** examples are designed to illustrate our theoretical findings.

关键词： Multi-agent systems heterogeneous constraints equilibrium point and its stability constrained consensus

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Construction Methods Based on Minimum Weight Distribution for Polar Codes with Successive Cancellation List Decoding

arXiv

引用

arXiv 2023年

作者： Piao, Jinnan Li, Dong Liu, Jindi Yu, Xueting Li, Zhibo Yang, Ming Zeng, Peng The State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China The Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China

Minimum weight distribution (MWD) is an important metric to calculate the first term of union bound called minimum weight union bound (MWUB). In this paper, we first prove the maximum likelihood (ML) performance approaches MWUB as signal-to-noise ratio (SNR) goes to infinity and provide the deviation when MWD and SNR are given. Then, we propose a nested reliability sequence, namely MWD sequence, to construct polar codes independently of channel information. In the sequence, synthetic channels are sorted by partial MWD which is used to evaluate the influence of information bit on MWD and we prove the MWD sequence is the optimum sequence evaluated by MWUB for polar codes obeying partial order. Finally, we introduce an entropy constraint to establish a relationship between list size and MWUB and propose a heuristic construction method named entropy constraint bit-swapping (ECBS) algorithm, where we initialize information set by the MWD sequence and gradually swap information bit and frozen bit to satisfy the entropy constraint. The simulation results show the MWD sequence is more suitable for constructing polar codes with short code length than the polar sequence in 5G and the ECBS algorithm can improve MWD to show better performance as list size increases. Copyright © 2023, The Authors. All rights reserved.

关键词： Signal to noise ratio

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Finite Time Convergence Parameter Estimator for Nonlinear MIMO System*

Finite Time Convergence Parameter Estimator for Nonlinear MI...

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Mediterranean Conference on control and Automation (MED)

作者： Dmitry Bazylev Sergey Vrazhevsky Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russia Laboratory of Adaptive and Iintelligent Control of Networked and Distributed systems IPME RAS Saint Petersburg Russia

ISBN: (数字)9781665406734

ISBN: (纸本)9781665406741

In this paper, we present a finite time convergence (FTC) parameter estimator for a class of non-linear MIMO systems. The designed FTC estimator is based on a continuous-time parameter identification algorithm that was recently proposed by the authors. Compared to the previous solution the new modified estimator doesn’t require the unobvious to achieve in practice assumptions imposed on regression functions to ensure guaranteed convergence. As a practical example, we use a “Twin Rotor MIMO System” laboratory bench which model is given by a nonlinear multi-channel system with cross-couplings. Significant improvement of the transient behavior for the new parameter estimator is demonstrated via representative simulation results.

关键词： Parameter estimation Heuristic algorithms Simulation Friction Rotors Transforms Mathematical models

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The System of Coordinated Operation of Two Underwater Vehicles in a Complex Environment

The System of Coordinated Operation of Two Underwater Vehicl...

引用

Ocean Studies (ICOS), International Conference on

作者： Vladimir Filaretov Alexey Katsurin Laboratory of Robotic Systems Laboratory of Automation and Robotics Institute of Automation and Control Processes FEB RAS Vladivostok State University Vladivostok Russia Department of Automation and Robotics Laboratory of Intelligent Information Systems for Marine Robots Far Eastern Federal University M.D. Ageev Institute for Marine Technology Problems FEB RAS Vladivostok Russia

The paper discusses methods of coordinated operation of two autonomous underwater vehicles, one of which is equipped with a multi-link manipulator and a vision system, and the second - auxiliary - only a vision system. These methods ensure the joint operation of two autonomous underwater vehicles both in the mode of semi-automatic positional remote control, and in the mode of automatic execution of operations with various objects. At the same time, work is considered in situations when the vision system of the main underwater vehicle does not allow observing the object of work, which is nevertheless located in the working area of the manipulator. In this case, the auxiliary inspection underwater vehicle with its own vision system is used to monitor the object. In the semi-automatic remote control mode, the manipulator automatically takes into account the current spatial orientation of the optical axis of the vision system of the inspection underwater vehicle, as well as the spatial orientations of both underwater vehicles at yaw angles in the absolute coordinate system. And in automatic mode, an accurate transfer of the spatial location and orientation of the object, which are determined using the vision system of the inspection underwater vehicle, is additionally provided to the associated coordinate system of the main underwater vehicle. It is possible to identify and eliminate errors that occur during the operation of the vision system and navigation systems of both underwater vehicles. The results of experimental studies have confirmed the operability of the proposed methods.

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Quadrotor control with a Guaranteed Presence of Output Signals under a Prespecified State Bounds

Quadrotor Control with a Guaranteed Presence of Output Signa...

引用

Mediterranean Conference on control and Automation (MED)

作者： Mikhail Kuznetsov Sergey Vrazhevsky Ekaterina Khalyamina Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russia Laboratory of Adaptive and Iintelligent Control of Networked and Distributed Systems IPME RAS Saint Petersburg Russia

ISBN: (数字)9781665406734

ISBN: (纸本)9781665406741

The article proposes a new robust tracking control method for UAV systems in roll and pitch angular planes. The main achievement of the obtained controller is a guarantee that the output signal is confined in a sufficiently small prespecified bounded set formed by arbitrary continuously differentiable functions. The method is applied to a multiple-input multiple-output quadrotor model under external bounded disturbances and parametrical uncertainties influence. Results and achieved performance are verified via representative computer simulation results.

关键词： Uncertainty Computer simulation Heuristic algorithms Computational modeling Observers Stability analysis MIMO

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Dynamic Collision Avoidance Using Velocity Obstacle-Based control Barrier Functions

arXiv

引用

arXiv 2025年

作者： Huang, Jihao Zeng, Jun Chi, Xuemin Sreenath, Koushil Liu, Zhitao Su, Hongye State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Institute of Intelligence Science and Engineering Shenzhen Polytechnic University Shenzhen China Hybrid Robotics Group The Department of Mechanical Engineering UC Berkeley United States

Designing safety-critical controllers for acceleration-controlled unicycle robots is challenging, as control inputs may not appear in the constraints of control Lyapunov functions (CLFs) and control barrier functions (CBFs), leading to invalid controllers. Existing methods often rely on state-feedback-based CLFs and high-order CBFs (HOCBFs), which are computationally expensive to construct and fail to maintain effectiveness in dynamic environments with fast-moving, nearby obstacles. To address these challenges, we propose constructing velocity obstacle-based CBFs (VOCBFs) in the velocity space to enhance dynamic collision avoidance capabilities, instead of relying on distance-based CBFs that require the introduction of HOCBFs. Additionally, by extending VOCBFs using variants of VO, we enable reactive collision avoidance between robots. We formulate a safety-critical controller for acceleration-controlled unicycle robots as a mixed-integer quadratic programming (MIQP), integrating state-feedback-based CLFs for navigation and VOCBFs for collision avoidance. To enhance the efficiency of solving the MIQP, we split the MIQP into multiple sub-optimization problems and employ a decision network to reduce computational costs. Numerical simulations demonstrate that our approach effectively guides the robot to its target while avoiding collisions. Compared to HOCBFs, VOCBFs exhibit significantly improved dynamic obstacle avoidance performance, especially when obstacles are fast-moving and close to the robot. Furthermore, we extend our method to distributed multi-robot systems. Copyright © 2025, The Authors. All rights reserved.

关键词： State feedback

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