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LiDAR-based drone navigation with reinforcement learning

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TechRxiv

TechRxiv 2023年

作者： Miera, Pawel Szolc, Hubert Kryjak, Tomasz Embedded Vision Systems Group Computer Vision Laboratory Department of Automatic Control and Robotics AGH University of Science and Technology Al. Mickiewicza 30 Krakow30-059 Poland

Reinforcement learning is of increasing importance in the field of robot control and simulation plays a key role in this process. In the unmanned aerial vehicles (UAVs, drones), there is also an increase in the number of published scientific papers involving this approach. In this work, an autonomous drone control system was prepared to fly forward (according to its coordinates system) and pass the trees encountered in the forest based on the data from a rotating LiDAR sensor. The Proximal Policy Optimization (PPO) algorithm, an example of reinforcement learning (RL), was used to prepare it. A custom simulator in the Python language was developed for this purpose. The Gazebo environment, integrated with the Robot Operating System (ROS), was also used to test the resulting control algorithm. Finally, the prepared solution was implemented in the Nvidia Jetson Nano eGPU and verified in the real tests scenarios. During them, the drone successfully completed the set task and was able to repeatably avoid trees and fly through the forest. © 2023, CC BY.

关键词： Drones

Toward Scalable Multirobot control: Fast Policy Learning in Distributed MPC

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arXiv 2024年

作者： Zhang, Xinglong Pan, Wei Li, Cong Xu, Xin Wang, Xiangke Zhang, Ronghua Hu, Dewen College of Intelligence Science and Technology National University of Defense Technology Changsha410073 China Department of Cognitive Robotics Delft University of Technology Netherlands Chair of Automatic Control Engineering Technical University of Munich Munich80333 Germany

Distributed model predictive control (DMPC) is promising in achieving optimal cooperative control in multirobot systems (MRS). However, real-time DMPC implementation relies on numerical optimization tools to periodically calculate local control sequences online. This process is computationally demanding and lacks scalability for large-scale, nonlinear MRS. This article proposes a novel distributed learning-based predictive control (DLPC) framework for scalable multirobot control. Unlike conventional DMPC methods that calculate open-loop control sequences, our approach centers around a computationally fast and efficient distributed policy learning algorithm that generates explicit closed-loop DMPC policies for MRS without using numerical solvers. The policy learning is executed incrementally and forward in time in each prediction interval through an online distributed actor-critic implementation. The control policies are successively updated in a receding-horizon manner, enabling fast and efficient policy learning with the closed-loop stability guarantee. The learned control policies could be deployed online to MRS with varying robot scales, enhancing scalability and transferability for large-scale MRS. Furthermore, we extend our methodology to address the multirobot safe learning challenge through a force field-inspired policy learning approach. We validate our approach’s effectiveness, scalability, and efficiency through extensive experiments on cooperative tasks of large-scale wheeled robots and multirotor drones. Our results demonstrate the rapid learning and deployment of DMPC policies for MRS with scales up to 10,000 units. Source codes and multimedia materials are available online at https://***/view/pldpc/. © 2024, CC BY.

关键词： Scalability

Parametric optimization of a Second Order Time Delay System with a PI-controller 21

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Parametric optimization of a Second Order Time Delay System ...

21st IEEE International Carpathian control Conference, ICCC 2020

作者： Duda, Jozef University of Science and Technology Department of Automatic Control and Robotics Agh Krakow Poland

ISBN: (纸本)9781728119519

In the work is posed and solved the parametric optimization problem for second order linear system with delay in control. The control is realised by means of a PI-controller in the closed loop feedback. It is considered the performance index integral of squared error. The value of the performance index is obtained using of the Lyapunov functional and is equal to the value of the Lyapunov functional at initial function. The Lyapunov functional is determined by means of the Lyapunov matrix. In the paper are presented the optimization results for different time delays and for varies damping factors. © 2020 IEEE.

关键词： Time delay

Time-Optimal Path Tracking for Cooperative Manipulators: A Convex Optimization Approach

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arXiv 2023年

作者： Haghshenas, Hamed Hansson, Anders Norrlöf, Mikael The Division of Automatic Control Department of Electrical Engineering Linköping University Linköping581-83 Sweden ABB Robotics Division Västerås721-36 Sweden

This paper studies the time-optimal path tracking problem for a team of cooperating robotic manipulators carrying an object. Considering the problem for rigidly grasped objects, we show that it can be cast as a convex optimization problem and solved efficiently with a guarantee of optimality. When formulating the problem, we avoid using a particular wrench distribution and exploit the full actuation available to the system. Then, we consider the problem for grasps using frictional forces and show that this problem also, under a force-closure grasp assumption, can be formulated as a convex optimization problem and solved efficiently and to optimality. To ensure a firm grasp, internal forces have been taken into account in this approach. © 2023, CC BY.

关键词： Convex optimization

Event-Based Supervisor control for a Bascule Bridge

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Event-Based Supervisor Control for a Bascule Bridge

South Eastern European Design Automation, Computer Engineering, Computer Networks and Social Media Conference (SEEDA-CECNSM)

作者： Dimitrios G. Fragkoulis Fotis N. Koumboulis Maria P. Tzamtzi Georgios L. Giannaris Department of Digital Industry Technologies School of Science Robotics Automatic Control and Cyber-Physical Systems Laboratory National and Kapodistrian University of Athens Euripus Campus Euboea Greece Core Department National and Kapodistrian University of Athens Euripus Campus Euboea Greece

ISBN: (数字)9798331504489

ISBN: (纸本)9798331504496

The automation of a bascule bridge, located in the Netherlands, is studied. The modeling of the system is worked out in the framework of Ramadge-Wonham and analyzed per automation component of the bridge. The desired performance of the bridge is expressed in the form of rules, that will be translated to five groups of sets of regular languages. Next, new groups of sets of regular languages will be introduced by the injection of appropriate uncontrollable events, in order to guarantee the controllability of the languages. Finally, an event-based supervisor scheme will be developed and the nonblockingness of the controlled automaton is proved.

关键词： Bridges Automation Design automation Event detection Social networking (online) Smart cities Programmable logic devices Automata SCADA systems Europe

Proprioceptive Force Sensing Adapted on High-Ratio Custom Actuators in Quadrupedal Walking Robot 21

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Proprioceptive Force Sensing Adapted on High-Ratio Custom Ac...

21st IEEE International Carpathian control Conference, ICCC 2020

作者： Wasilewski, Piotr Gradzki, Rafal Bialystok University of Technology Department of Automatic Control and Robotics Bialystok Poland Bialystok University of Technology Department of Automatic Control and Mechatronic Systems Bialystok Poland

ISBN: (纸本)9781728119519

Proprioceptive force sensing is a common practice among quadruped robot designers as it requires no additional components mounted on the legs. Yet it is usually adapted with actuators that have relatively low mechanical gear ratio, lower than 10:1. Tests performed in this paper show the proprioceptive technique adapted on a custom 22:1 brushless actuator with cycloidal gear. The aim is to successfully use this technique for setting and measuring forces acting on the end effector of the leg in order to detect contacts and perform a rough force control. © 2020 IEEE.

关键词： Mechanical actuators

LiDAR-based drone navigation with reinforcement learning

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arXiv 2023年

关键词： Robot Operating System

Towards clean energy: Design and integration strategy of photovoltaics for residential electrification

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Journal of Engineering Research

Journal of Engineering Research 2025年第2期13卷 1329-1343页

作者： Dewan Mahnaaz Mahmud Emmanuel Eragbe Sule Teng Wang Vinu Thomas Department of Automatic Control and Robotics École Centrale de Nantes 1 Rue de la Noë Nantes 44300 France Laboratoire des Sciences du Numérique de Nantes (LS2N) Ecole Centrale de Nantes 1 Rue de la Noë Nantes 44300 France

Rapid global population growth and rising energy demands are causing environmental damage, particularly in developing countries dealing with climate change, pollution, and fuel shortages. Adopting cleaner, more sustainable energy sources could be one solution to this problem. In the context of hybrid energy systems, one proposition is to incorporate renewables into residential developments. This manuscript proposes a grid-connected hybrid (GCH) photovoltaic (PV) system for residential electrification in Dhaka, Bangladesh, and evaluates the technical feasibility. The proposed design includes four scenarios for PV and battery energy storage systems (BESS). The primary goals of the assessment include lowering net present cost (NPC), cost of energy (COE), and unmet load, as well as reducing grid dependence, lowering greenhouse gas (GHG) emissions, and providing grid support. Solar irradiation fluctuations, demand variations, and voltage sag are all factors to consider when evaluating technical feasibility. The four cases were simulated using hybrid optimization with HOMER Pro, to achieve a system that maximizes renewable energy utilization. The analysis concludes that the GCH PV system is best suited for residential power needs, with lower COE, NPC, and grid dependency. The system achieves a COE of $0.0643/kWh, lowers GHG emissions, and attains a renewable fraction of 40%. Technical feasibility is verified using MATLAB-Simulink simulations at the point of common coupling (PCC), which include solar irradiation variations, active and reactive power adjustments based on demand, and voltage sag analysis for grid integration. The proposed system is cost-effective, convenient, and sustainable, with few salvageable components.

关键词： Clean energy Photovoltaics Grid integration Power adjustment Greenhouse gas

Visual Tracking Nonlinear Model Predictive control Method for Autonomous Wind Turbine Inspection

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arXiv 2023年

作者： Amer, Abdelhakim Mehndiratta, Mohit le Fevre Sejersen, Jonas Pham, Huy Xuan Kayacan, Erdal The Department of Electrical and Computer Engineering Aarhus University Aarhus C8000 Denmark GIM Robotics Espoo Finland The Automatic Control Group Department of Electrical Engineering and Information Technology Paderborn University Paderborn Germany

Automated visual inspection of on-and offshore wind turbines using aerial robots provides several benefits, namely, a safe working environment by circumventing the need for workers to be suspended high above the ground, reduced inspection time, preventive maintenance, and access to hard-to-reach areas. A novel nonlinear model predictive control (NMPC) framework alongside a global wind turbine path planner is proposed to achieve distance-optimal coverage for wind turbine inspection. Unlike traditional MPC formulations, visual tracking NMPC (VT-NMPC) is designed to track an inspection surface, instead of a position and heading trajectory, thereby circumventing the need to provide an accurate predefined trajectory for the drone. An additional capability of the proposed VT-NMPC method is that by incorporating inspection requirements as visual tracking costs to minimize, it naturally achieves the inspection task successfully while respecting the physical constraints of the drone. Multiple simulation runs and real-world tests demonstrate the efficiency and efficacy of the proposed automated inspection framework, which outperforms the traditional MPC designs, by providing full coverage of the target wind turbine blades as well as its robustness to changing wind conditions. The implementation codes are open-sourced. © 2023, CC BY.

关键词： Inspection