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An Efficient Planning and control Framework for Quadrotors Based on Heuristic Search and Data-Driven Model Predictive control

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IEEE Transactions on Industrial Electronics 2025年

作者： Wang, Sifei Wang, Yaonan Miao, Zhiqiang Wang, Xiangke He, Wei Wang, Hesheng Hunan University College of Electrical and Information Engineering Changsha 410082 China National Engineering Research Center for Robot Visual Perception and Control Changsha 410082 China National University of Defense Technology College of Intelligence Science and Technology Changsha 410073 China Beijing Information Science and Technology University School of Automation Institute of Artificial Intelligence Beijing 100083 China University of Science and Technology School of Intelligence Science and Technology Beijing 100083 China Shanghai Jiao Tong University Department of Automation Shanghai 200240 China Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai 200240 China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin 150001 China

This article presents a framework for quadrotors that integrate planning and control, which employs a heuristic depth-first search (HDFS) with data-driven model predictive control (MPC). The proposed framework intends to enable multiquadrotor systems to traverse cluttered environments containing obstacles and disturbances. The heuristic function enables quadrotors to identify a secure route in a timely manner. The heuristic function setup employed by HDFS results in a reduction in the number of rasters accessed, particularly in scenarios that are not labyrinthine. This consequently leads to an enhancement in computational speed for multiquadrotor systems when compared to the A* algorithm. Furthermore, data-driven MPC enhances the nominal model of the quadrotor by modeling the disturbance while tracking the desired states. Consequently, data-driven MPC is capable of attaining superior tracking precision in a disturbance environment when compared to MPC without data-driven. The transformation from the path to the desired states of the quadrotor is achieved through the utilization of B-splines and differential flatness. Simulations and experiments substantiate the efficacy of the proposed approach. © 1982-2012 IEEE.

关键词： Collision avoidance data-driven depth-first search model predictive control multiquadrotor systems

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Non-collocated vibration absorption using delayed resonator for spectral and spacial tuning - analysis and experimental validation

arXiv

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arXiv 2025年

作者： Kuře, Matěj Peichl, Adam Bušek, Jaroslav Olgac, Nejat Vyhlídal, Tomáš Department of Instrumentation and Control Engineering Faculty of Mechanical Engineering Czech Technical University in Prague Prague 6160 00 Czech Republic Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague 6160 00 Czech Republic Department of Mechanical Engineering University of Connecticut StorrsCT United States

Non-collocated vibration absorption (NCVA) concept using delayed resonator for in-situ tuning is analyzed and experimentally validated. There are two critical contributions of this work. One is on the scalable analytical pathway for verifying the concept of resonant substructure as the basis of the ideal vibration absorption. The second is to experimentally validate the spatial and spectral tunability of NCVA structures for the first time. For both novelties arbitrarily large dimensions of interconnected mass-spring-damper chains are considered. Following the state of the art on NCVA, control synthesis is performed over the resonant substructure comprising the delayed resonator and a part of the primary structure involved in the vibration absorption. The experimental validation of the proposed NCVA concept is performed on a mechatronic setup with three interconnected cart-bodies. Based on the spectral analysis, an excitation frequency is selected for which a stable vibration suppression can be achieved sequentially for all the three bodies, one collocated and two non-collocated. The experimental results closely match the simulations for complete vibration suppression at the targeted bodies, and thus validating the crucial spatial tunability characteristic as well as the traditional spectral *** Codes 93D20 © 2025, CC BY.

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Practical fractional-order variable-gain super-twisting control with application to wafer stages of photolithography systems

arXiv

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arXiv 2021年

作者： Kuang, Zhian Sun, Liting Gao, Huijun Tomizuka, Masayoshi Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Mechanical Control System Lab Mechanical Engineering Department University of California BerkeleyCA94720 United States

In this paper, a practical fractional-order variable-gain super-twisting algorithm (PFVSTA) is proposed to improve the tracking performance of wafer stages for semiconductor manufacturing. Based on the sliding mode control (SMC), the proposed PFVSTA enhances the tracking performance from three aspects: 1) alleviating the chattering phenomenon via super-twisting algorithm and a novel fractional-order sliding surface (FSS) design, 2) improving the dynamics of states on the sliding surface with fast response and small overshoots via the designed novel FSS and 3) compensating for disturbances via variable-gain control law. Based on practical conditions, this paper analyzes the stability of the controller and illustrates the theoretical principle to compensate for the uncertainties caused by accelerations. Moreover, numerical simulations prove the effectiveness of the proposed sliding surface and control scheme, and they are in agreement with the theoretical analysis. Finally, practice-based comparative experiments are conducted. The results show that the proposed PFVSTA can achieve much better tracking performance than the conventional methods from various perspectives. Copyright © 2021, The Authors. All rights reserved.

关键词： Sliding mode control

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A general framework for lifelong localization and mapping in changing environment

arXiv

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arXiv 2021年

作者： Zhao, Min Guo, Xin Song, Le Qin, Baoxing Shi, Xuesong Lee, Gim Hee Sun, Guanghui Gaussian Robotics Shanghai China Intel Labs China Beijing China Computer Vision and Robotic Perception Lab Department of Computer Science School of Computing National University of Singapore Singapore Singapore Department of Control Science and Engineering Harbin Institute of Technology China

The environment of most real-world scenarios such as malls and supermarkets changes at all times. A prebuilt map that does not account for these changes becomes out-of-date easily. Therefore, it is necessary to have an up-todate model of the environment to facilitate long-term operation of a robot. To this end, this paper presents a general lifelong simultaneous localization and mapping (SLAM) framework. Our framework uses a multiple session map representation, and exploits an efficient map updating strategy that includes map building, pose graph refinement and sparsification. To mitigate the unbounded increase of memory usage, we propose a maptrimming method based on the Chow-Liu maximum-mutualinformation spanning tree. The proposed SLAM framework has been comprehensively validated by over a month of robot deployment in real supermarket environment. Furthermore, we release the dataset collected from the indoor and outdoor changing environment with the hope to accelerate lifelong SLAM research in the community. Our dataset is available at https://***/sanduan168/lifelong-SLAM-dataset. © 2021, CC BY.

关键词： Retail stores

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Background Flow Sensing for Autonomous Underwater Vehicles Using Model Reduction with Dynamic Mode Decomposition

Background Flow Sensing for Autonomous Underwater Vehicles U...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Fengying Dang Sanjida Nasreen Feitian Zhang Bioinspired Robotics and Intelligent Control Laboratory at the Department of Electrical and Computer Engineering George Mason University Fairfax VA USA

ISBN: (数字)9781728167947

ISBN: (纸本)9781728167954

Autonomous underwater vehicles (AUVs) have received increasing attention among scientific and engineering societies for their superior performances and promising future in marine environments. A key challenge to marine autonomy is the sensing of the background flow environment, which is important for navigation and motion control of AUVs. While existing flow estimation studies typically focus on (quasi-)steady flow fields for AUVs of well-defined shapes, this paper proposes a novel flow sensing algorithm that applies to any dynamic flows for arbitrary AUV shapes. The proposed flow sensing method assimilates distributed pressure measurements through coalescing recursive Bayesian estimation and dynamic mode decomposition (DMD)-based model reduction. To demonstrate the effectiveness of the proposed distributed flow sensing algorithm, both simulation and experimental results are presented on three testing prototypes of different shapes including a Joukowski foil, a triangle, and a rectangle.

关键词： Sensors Pressure measurement Estimation Heuristic algorithms Reduced order systems Vehicle dynamics Bayes methods

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A Soft Pneumatic Crawling Robot with Unbalanced Inflation*

A Soft Pneumatic Crawling Robot with Unbalanced Inflation*

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Naijia Wang Mengqi He Yushi Cui Yi Sun Peng Qi Department of Control Science and Engineering College of Electronics and Information Engineering Tongji University Shanghai China Sydney Institute for Robotics and Intelligent Systems and Australian Center for Field Robotics The University of Sydney Sydney Australia

ISBN: (数字)9781728167947

ISBN: (纸本)9781728167954

Soft pneumatic robots have gained research interests in many fields, showing an advantage of compliance and safeness to human-robotic interaction and various environments. In this paper, a multi/dual-chamber soft crawling robot based on unbalanced pneumatic actuation is presented, which requires only simple design and control to realize the forward locomotion and steering. The design is composed of three parts: the main part of the crawling robot is made of hyper-elastic silicone rubber; an unstretchable fabric is attached outside of part of the robot to form an exterior constraint; two chambers are mounted on the head as steering module. Experiments validate the design in principle and an adequate locomotion performance of the robot. Due to the simple, low-cost structure and its flexible actuation, such crawling robots can be used to perform pipeline exploration, search and rescue missions.

关键词： Pneumatic systems Friction Soft robotics Robot kinematics Pneumatic actuators

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An Experimental Investigation of Essential Hand Tremor Suppression via a Soft Exoskeletal Glove

An Experimental Investigation of Essential Hand Tremor Suppr...

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European control Conference (ECC)

作者： Vasileios Skaramagkas George Andrikopoulos Stamatis Manesis Electrical and Computer Engineering Department University of Patras Rio Greece Robotics Team Control Engineering Group Luleå University of Technology Luleå Sweden

ISBN: (数字)9783907144022

ISBN: (纸本)9781728188133

In this article, a soft exoskeletal glove is proposed for investigating the potential of utilizing Pneumatic Artificial Muscles (PAMs) for suppressing hand tremor of Essential Tremor (ET) patients. The glove setup is first presented from a conceptual point, which is focused on the dual investigation of applying local kinesthetic forces exerted via PAMs on the user's finger and on the metacarpal region. An experimental protocol is being derived incorporating a force controller adjusted for both investigated cases, while the efficiency of the proposed setup is extensively evaluated under various motion scenarios performed by an ET-diagnosed volunteer.

关键词： Force Thumb Indexes Muscles Accelerometers Prototypes

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Simultaneous tactile exploration and grasp refinement for unknown objects

arXiv

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arXiv 2021年

作者： de Farias, Cristiana Marturi, Naresh Stolkin, Rustam Bekiroglu, Yasemin The Extreme Robotics Laboratory School of Metallurgy and Materials University of Birmingham Birmingham United Kingdom Chalmers University of Technology Department of Electrical Engineering Automatic Control research group Sweden University College London Department of Computer Science Centre for Artificial Intelligence United Kingdom

This paper addresses the problem of simultaneously exploring an unknown object to model its shape, using tactile sensors on robotic fingers, while also improving finger placement to optimise grasp stability. In many situations, a robot will have only a partial camera view of the near side of an observed object, for which the far side remains occluded. We show how an initial grasp attempt, based on an initial guess of the overall object shape, yields tactile glances of the far side of the object which enable the shape estimate and consequently the successive grasps to be improved. We propose a grasp exploration approach using a probabilistic representation of shape, based on Gaussian Process Implicit Surfaces. This representation enables initial partial vision data to be augmented with additional data from successive tactile glances. This is combined with a probabilistic estimate of grasp quality to refine grasp configurations. When choosing the next set of finger placements, a bi-objective optimisation method is used to mutually maximise grasp quality and improve shape representation during successive grasp attempts. Experimental results show that the proposed approach yields stable grasp configurations more efficiently than a baseline method, while also yielding improved shape estimate of the grasped object. Copyright © 2021, The Authors. All rights reserved.

关键词： Machine learning

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An efficient and adaptable multimedia system for converting PAL to VGA in real-time video processing

An efficient and adaptable multimedia system for converting ...

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作者： Jain, Deepak Kumar Jacob, Sunil Alzubi, Jafar Menon, Varun Key Laboratory of Intelligent Air-Ground Cooperative Control for Universities in Chongqing College of Automation Chongqing University of Posts and Telecommunications Chongqing400065 China Center for Robotics SCMS School of Engineering and Technology Kerala683576 India School of Engineering Al-Balqa Applied University Salt19117 Jordan Department of Computer Science and Engineering SCMS School of Engineering and Technology Kerala683576 India

Real-time video processing has found its range of applications from defense to consumer electronics for surveillance, video conferencing, etc. With the advent of Field Programmable Gate Arrays (FPGAs), flexible real-time video processing systems which can meet hard real-time constraints are easily realized with short development time. Most of the existing solutions have high utilization of system resources and are not quite flexible with many applications. Here we propose a hardware–software co-design for an FPGA-based real-time video processing system to convert video in standard Phase Alternating Line (PAL) 576i format to standard video of Video Graphics Array (VGA)/Super Video Graphics Array (SVGA) format with little utilization of resources. Switching between multiple video streams, character/text overlaying, and skin color detection are also incorporated with the system. The system is also adaptable for rugged applications. VHSIC Hardware Description Language (VHDL) codes for the architecture were synthesized using Altera Quartus II and targeted for Altera Stratix I FPGA. Results achieved confirm that the proposed system performs efficient conversion with very less resource utilization compared to the existing solutions. Since the proposed system is also flexible, many other applications can be incorporated in the future. © 2019, Springer-Verlag GmbH Germany, part of Springer Nature.

关键词： Field programmable gate arrays (FPGA)

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On Embeddings and Inverse Embeddings of Input Design for Regularized System Identification

arXiv

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arXiv 2022年

作者： Mu, Biqiang Chen, Tianshi Kong, He Jiang, Bo Wang, Lei Wu, Junfeng Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China School of Data Science Shenzhen Research Institute of Big Data The Chinese University of Hong Kong Shenzhen518172 China Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen518055 China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen518055 China Key Laboratory for NSLSCS of Jiangsu Province School of Mathematical Sciences Nanjing Normal University Nanjing China College of Control Science and Engineering Zhejiang University Hangzhou China

Input design is an important problem for system identification and has been well studied for the classical system identification, i.e., the maximum likelihood/prediction error method. For the emerging regularized system identification, the study on input design has just started, and it is often formulated as a non-convex optimization problem that minimizes a scalar measure of the Bayesian mean squared error matrix subject to certain constraints, and the state-of-art method is the so-called quadratic mapping and inverse embedding (QMIE) method, where a time domain inverse embedding (TDIE) is proposed to find the inverse of the quadratic mapping. In this paper, we report some new results on the embeddings/inverse embeddings of the QMIE method. Firstly, we present a general result on the frequency domain inverse embedding (FDIE) that is to find the inverse of the quadratic mapping described by the discrete-time Fourier transform. Then we show the relation between the TDIE and the FDIE from a graph signal processing perspective. Finally, motivated by this perspective, we further propose a graph induced embedding and its inverse, which include the previously introduced embeddings as special cases. This deepens the understanding of input design from a new viewpoint beyond the real domain and the frequency domain viewpoints. Copyright © 2022, The Authors. All rights reserved.

关键词： Embeddings

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