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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Filip Zoric Antonio Franchi Matko Orsag Zdenko Kovacic Chiara Gabellieri Laboratory for Robotics and Intelligent Control Systems (LARICS) at the Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Robotics and Mechatronics Group from the University of Twente Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy

ISBN: (数字)9798350357882

ISBN: (纸本)9798350357899

This paper presents a novel aerial robotics application of instance segmentation-based floating litter collection with a multi-rotor aerial vehicle (MRAV). In the scope of the paper, we present a review of the available datasets for litter detection and segmentation. The reviewed datasets are used to train a Mask-RCNN neural network for instance segmentation. The neural network is off-board deployed on an edge computing device and used for litter position estimation. Based on the estimated litter position, we plan a path based on a quadratic Bezier curve for the litter pickup. We compare different trajectory generation methods for the object pickup. The system is verified in a laboratory environment. Eventually, we present practical considerations and improvements necessary to enable autonomous litter collection with MRAV.

关键词： Instance segmentation Reviews Neural networks Laboratories Estimation Trajectory Aircraft

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Feasibility Evaluation of Quadratic Programs for Constrained control

arXiv

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arXiv 2025年

作者： Rousseas, Panagiotis Panagou, Dimitra Control Systems Laboratory School of Mechanical Engineering National Technical University of Athens Greece Department of Robotics Department of Aerospace Engineering University of Michigan MI United States

This paper presents a computationally-efficient method for evaluating the feasibility of Quadratic Programs (QPs) for online constrained control. Based on the duality principle, we first show that the feasibility of a QP can be determined by the solution of a properly-defined Linear Program (LP). Our analysis yields a LP that can be solved more efficiently compared to the original QP problem, and more importantly, is simpler in form and can be solved more efficiently compared to existing methods that assess feasibility via LPs. The computational efficiency of the proposed method compared to existing methods for feasibility evaluation is demonstrated in comparative case studies as well as a feasible-constraint selection problem, indicating its promise for online feasibility evaluation of optimization-based controllers. © 2025, CC BY.

关键词： Quadratic programming

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Semi-Autonomous Search and Rescue System

Semi-Autonomous Search and Rescue System

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Eli Walz Katherine R. Hammonds Megan Rumbaugh Richard T. O’Brien Robotics and Control Engineering Department The United States Naval Academy Annapolis MD USA

A proposed semi-autonomous search and rescue system identifies and tracks a person using a piloted unmanned aerial vehicle with a downward-facing vision system. This vehicle communicates the person’s location to an autonomous unmanned ground vehicle to recover the target. An object detection neural network and image processing system can detect humans from an aerial perspective using RGB and thermal images. A Python simulation of the ground vehicle demonstrates that the heading and velocity controllers are robust to noise and disturbances.

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Verification of YP689 Flow Field Models for Dynamic Interface Flight Test

Verification of YP689 Flow Field Models for Dynamic Interfac...

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AIAA SciTech Forum and Exposition, 2023

作者： Bostock, Nicholas Richez, Adrien Wickramasuriya, Maneesha Webster-Giddings, Allison Costello, Donald Aerospace Engineering Department United States Naval Academy AnnapolisMD21402 United States Mechanical and Aerospace Engineering Department George Washington University WashingtonDC20052 United States Weapons Robotics and Control Department United States Naval Academy AnnapolisMD21402 United States

ISBN: (数字)9781624106996

ISBN: (纸本)9781624106996

The United States Navy has a vested interest in determining the flow field, also referred to as air wake, behind a moving surface vessel. Every new type of rotary aircraft designed to deploy from a surface ship is tested in this dynamic environment before being cleared for fleet use. The United States Naval Academy operates and maintains multiple 108 foot Yard Patrol (YP) craft for the training of future naval officers. One of the craft has been outfitted with a simulated flight deck. Currently the flight deck is installed on YP689 (it has been moved between multiple YPs over the last decade). The air wake behind the YP is similar to that of a destroyer (at a 1/4 scale). This line of research is a cooperative effort between the United States Naval Academy, GeorgeWashington University, the Office of Naval Research, and the Naval Air Systems Command. Prior research by this team developed a number of flow fields models over the flight deck of the Yard Patrol craft. This paper validated one of these flow field models from a different hull number. Additionally, this paper demonstrated a correlation between shifts in acceleration data experienced by the research drone and increases in operator workload. © 2023, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Wakes

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control of Continuum Manipulators with Shape Constraints via Deep Reinforcement Learning

Control of Continuum Manipulators with Shape Constraints via...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Nima Maghooli Omid Mahdizadeh Mohammad Bajelani S. Ali A. Moosavian Department of Mechanical Engineering Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems (ARAS) K. N. Toosi University of Technology Tehran Iran

ISBN: (数字)9798331529734

ISBN: (纸本)9798331529741

Continuum robots, while versatile for handling complex tasks, present significant challenges in control system design. This paper introduces a novel framework that integrates position and orientation control laws to address shape constraints effectively. Specifically, a Deep Reinforcement Learning (DRL) strategy is proposed to facilitate trajectory tracking within the desired orientation. To ensure safety, the framework directly controls the end-effector's position and orientation in the workspace, avoiding unsafe zones. A centralized control law, the Modified Transpose Jacobian (MTJ), is employed to resolve the robot's redundancy without relying on inverse kinematics. The proposed approach is validated through simulations on a Tendon-Driven Continuum Robot (TDCR), demonstrating superior performance compared to similar learning-based controllers.

关键词： Meters Mechatronics Shape Trajectory tracking Termination of employment Position control Kinematics Deep reinforcement learning Safety Continuum robots

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Multiplier analysis of Lurye systems with power signals 63

Multiplier analysis of Lurye systems with power signals

引用

63rd IEEE Conference on Decision and control, CDC 2024

作者： Heath, William P. Carrasco, Joaquin Bangor University School of Computer Science and Engineering Dean St LL57 1UT United Kingdom Nancy Rothwell Building University of Manchester Control Systems and Robotics Group Department of Electrical and Electronic Engineering M13 9PL United Kingdom

ISBN: (纸本)9798350316339

Multipliers can be used to guarantee both the Lyapunov stability and input-output stability of Lurye systems with time-invariant memoryless slope-restricted nonlinearities. If a dynamic multiplier is used there is no guarantee the closedloop system has finite incremental gain. It has been suggested in the literature that without this guarantee such a system may be critically sensitive to time-varying exogenous signals including noise. We show that multipliers guarantee the power gain of the system to be bounded and quantifiable. Furthermore power may be measured about an appropriate steady state bias term, provided the multiplier does not require the nonlinearity to be odd. Hence dynamic multipliers can be used to guarantee Lurye systems have low sensitivity to noise, provided other exogenous systems have constant steady state. We illustrate the analysis with an example where the exogenous signal is a power signal with non-zero mean. © 2024 IEEE.

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Safe Multi-Robotic Arm Interaction via 3D Convex Shapes

arXiv

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arXiv 2025年

作者： Kaypak, Ali Umut Wei, Shiqing Krishnamurthy, Prashanth Khorrami, Farshad Control/Robotics Research Laboratory Electrical and Computer Engineering Department Tandon School of Engineering New York University BrooklynNY11201 United States

Inter-robot collisions pose a significant safety risk when multiple robotic arms operate in close proximity. We present an online collision avoidance methodology leveraging 3D convex shape-based High-Order control Barrier Functions (HOCBFs) to address this issue. While prior works focused on using control Barrier Functions (CBFs) for human–robotic arm and single-arm collision avoidance, we explore the problem of collision avoidance between multiple robotic arms operating in a shared space. In our methodology, we utilize the proposed HOCBFs as centralized and decentralized safety filters. These safety filters are compatible with any nominal controller and ensure safety without significantly restricting the robots’ workspace. A key challenge in implementing these filters is the computational overhead caused by the large number of safety constraints and the computation of a Hessian matrix per constraint. We address this challenge by employing numerical differentiation methods to approximate computationally intensive terms. The effectiveness of our method is demonstrated through extensive simulation studies and real-world experiments with Franka Research 3 robotic arms. © 2025, CC BY.

关键词： Robotic arms

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Resilient Event-Triggered Model Predictive control for Adaptive Cruise control Under Sensor Attacks

引用

IEEE/CAA Journal of Automatica Sinica 2023年第3期10卷 807-809页

作者： Zhijian Hu Rong Su Kai Zhang Zeyuan Xu Renjie Ma School of Electrical and Electronic Engineering Nanyang Technological UniversitySingapore 639798Singapore Key Laboratory of Ultra-Precision Intelligent Instrumentation Ministry of Industry and Information Technologyand the Center of Ultra-Precision Optoelectronic Instrument EngineeringHarbin Institute of TechnologyHarbin 150001China Department of Control Science and Engineering Harbin Institute of TechnologyHarbin 150001China Department of Chemical and Biomolecular Engineering National University of SingaporeSingapore 117585Singapore State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150001China IEEE

Dear Editor,This letter addresses the resilient model predictive control(MPC)problems for adaptive cruise control(ACC)systems under sensor *** the light of vulnerabilities of ACC systems to sensor attacks,an intrusion detection mechanism is proposed at the controller side to distinguish abnormal ***,the robust control gains are derived to design the terminal region constraint for MPC.

关键词： Trigger Event constraint

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MPPT Algorithms for Wind Turbines: Review and Comparison 29

MPPT Algorithms for Wind Turbines: Review and Comparison

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29th International Workshop on Electric Drives: Advances in Power Electronics for Electric Drives, IWED 2022

作者： Aleksandr, Lukin Demidova, Galina Alassaf, Omar Lukichev, Dmitry Rassolkin, Anton Vaimann, Toomas ITMO University Faculty of Control System and Robotics Saint-Petersburg Russia Tallinn University of Technology Department of Electrical Power Engineering and Mechatronics Tallinn Estonia

ISBN: (纸本)9781665467865

Wind turbines play an important role in energy generation using renewable sources. The wind is very changeable, and such turbines require techniques for finding and tracking maximum power density. The presented work includes an overview of maximum power point tracking techniques applicable to small-size wind turbines based on the Magnus effect. An overview of existing algorithms is presented. Overviewed algorithms are assessed using a simulation in MATLAB with a model of the experimental Magnus effect wind turbine. © 2022 IEEE.

关键词： Wind power

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Real-Time Face-Tracking control of a 4 DOF Manipulator Using Deep Learning Detection

Real-Time Face-Tracking Control of a 4 DOF Manipulator Using...

引用

RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Ali Asadi Amirreza Hassan Nejad S. Ali A. Moosavian Department of Mechanical Engineering Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems (ARAS) K. N. Toosi University of Technology Tehran Iran

ISBN: (数字)9798331529734

ISBN: (纸本)9798331529741

This paper has presented the design, simulation, and real-time implementation of a four-degree-of-freedom (4-DOF) robotic system for face detection and tracking. The system has combined kinematic control with deep learning. It has used the Xception network for high-accuracy facial detection. A Fuzzy PID-MIJ control algorithm has optimized the trajectory planning. This has ensured smooth and precise target tracking. Both simulations and physical experiments have validated the system's real-time performance. The results have shown that the system can reliably track faces with minimal error. This approach has demonstrated significant potential for dynamic, human-interactive applications.

关键词： Deep learning Target tracking Trajectory planning Target recognition Face recognition Kinematics Real-time systems Robustness Planning Face detection

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