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arXiv 2021年

作者： Barišić, Antonella Petric, Frano Bogdan, Stjepan Laboratory for Robotics and Intelligent Control Systems Faculty of Electrical Engineering and Computing University of Zagreb Unska 3 Zagreb Croatia

This paper presents our approach to intercepting a faster intruder UAV, inspired by the MBZIRC 2020 Challenge 1. By utilizing a priori knowledge of the shape of the intruder's trajectory, we can calculate an interception point. Target tracking is based on image processing by a YOLOv3 Tiny convolutional neural network, combined with depth calculation using a gimbal-mounted ZED Mini stereo camera. We use RGB and depth data from the camera, devising a noise-reducing histogram-filter to extract the target's 3D position. Obtained 3D measurements of target's position are used to calculate the position, orientation, and size of a figure-eight shaped trajectory, which we approximate using a Bernoulli lemniscate. Once the approximation is deemed sufficiently precise, as measured by the distance between observations and estimate, we calculate an interception point to position the interceptor UAV directly on the intruder's path. Our method, which we have significantly improved based on the experience gathered during the MBZIRC competition, has been validated in simulation and through field experiments. Our results confirm that we have developed an efficient, visual-perception module that can extract information describing the intruder UAV's motion with precision sufficient to support interception planning. In a majority of our simulated encounters, we can track and intercept a target that moves 30% faster than the interceptor. Corresponding tests in an unstructured environment yielded 9 out of 12 successful results. © 2021, CC BY-NC-SA.

关键词： Unmanned aerial vehicles (UAV)

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Variational synthesis of dynamical systems with elastic properties into element base

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AIP Conference Proceedings 2023年第1期2872卷

作者： I. N. Noskova V. Yu Tertychny-Dauri ITMO University Faculty of Control Systems and Robotics St. Petersburg Russian Federation

We consider the synthesis problem of dynamical systems relating to a class of conditional variation problems with variable endpoints. Variational method is applied for research of the elastic oscillator with controllable spring stiffness. In solving a general conditional variation problem, the obtained differential system of equations in closed form is studied for design of an optimal system for the initial dynamic object with a given quality functional. Transversality condition in the variational problem is formulated in terms of local programming. An optimal algorithm is constructed in the elastic oscillator, and the value of finite transition period is found.

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Virtual Laboratory for Game-Based control systems Education*

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IFAC-PapersOnLine 2022年第17期55卷 344-349页

作者： Alexey A. Peregudin Arseniy M. Popov Eduard R. Akhmetgaliev Alena D. Bugrova Mariia A. Bystramovich Valerii A. Stakanov Vasily A. Dunaev ITMO University Faculty of Control Systems and Robotics 49 Kronverksky Pr. St. Petersburg 197101 Russia Institute for Problems of Mechanical Engineering Russian Academy of Sciences 61 Bolshoy Prospekt V.O. St. Petersburg 199178 Russia

The paper presents a description of the virtual experimental laboratory developed at ITMO University. It provides convenient tools for e-learning and can serve as a replacement for real-life laboratory equipment. The presented virtual laboratory is focused on a game-based approach to the advanced study of automation and control systems.

关键词： Education control Education Teaching Virtual Laboratory Laboratory education

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Vision based collision detection for a safe collaborative industrial manipulator

Vision based collision detection for a safe collaborative in...

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IEEE International Conference on Intelligence and Safety for robotics (ISR)

作者： Bruno Maric Fran Jurican Matko Orsag Zdenko Kovacic LARICS Laboratory for Robotics and Intelligent Control Systems University of Zagreb Faculty of Electrical Engineering and Computing Unska 3 Zagreb Croatia

ISBN: (纸本)9781665438629;9781665411486

In this work we present an improved method for collision detection that extends the ability of collaborative systems to share the workspace between the operator and the robot. Our work is based on the state-of-the-art GPU-Voxels algorithm, with a dynamic swept volume method for collision detection that minimizes intervention in robot trajectories. We propose a sensor calibration method that allows multiple cameras to be placed around the robot to ensure coverage without shadows. In addition, we show how our previous work on advanced force control algorithms, which in combination with the collision detection algorithm presented, meets all safety requirements of the technical specification ISO/TS 15066. Our ultimate goal is to derive a framework for collaborative industrial manipulators, which are able to work side by side with people.

关键词： Heuristic algorithms Dynamics Collaboration Robot sensing systems Safety Trajectory Calibration

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Graph-Based Visual-Kinematic Fusion and Monte Carlo Initialization for Fast-Deployable Cable-Driven Robots

Graph-Based Visual-Kinematic Fusion and Monte Carlo Initiali...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： R. Khorrambakht H. Damirchi M.R. Dindarloo A. Saki S.A. Khalilpour Hamid D. Taghirad Stephan Weiss Electrical & Computer Engineering Department Control/Robotics Research Laboratory Tandon School of Engineering New York University Brooklyn NY School of Computer Science University of Adelaide Australia Faculty of Electrical Engineering University of Technology Tehran Iran Department of Smart Systems Technologies University of Klagenfurt Austria

Ease of calibration and high-accuracy task-space state-estimation purely based on onboard sensors is a key requirement for enabling easily deployable cable robots in real-world applications. In this work, we incorporate the onboard camera and kinematic sensors to drive a statistical fusion framework that presents a unified localization and calibration system which requires no initial values for the kinematic parameters. This is achieved by formulating a Monte-Carlo algorithm that initializes a factor-graph representation of the calibration and localization problem. With this, we are able to jointly identify both the kinematic parameters and the visual odometry scale alongside their corresponding uncertainties. We demonstrate the practical applicability of the framework using our state-estimation dataset recorded with the ARAS-CAM suspended cable driven parallel robot, and published as part of this manuscript.

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Constructive barrier feedback for collision avoidance in leader-follower formation control

arXiv

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arXiv 2023年

作者： Tang, Zhiqi Cunha, Rita Hamel, Tarek Silvestre, Carlos Institute for Systems and Robotics Instituto Superior Técnico Universidade de Lisboa Portugal Division of Decision and Control Systems KTH Royal Institute of Technology Sweden I3S-CNRS Université Côte d'Azur Institut Universitaire de France France Department of Electrical and Computer Engineering The Faculty of Science and Technology The University of Macau China

This paper proposes a novel constructive barrier feedback for reactive collision avoidance between two agents. It incorporates this feature in a formation tracking control strategy for a group of 2nd-order dynamic robots defined in three-dimensional space. Using only relative measurements between neighboring agents, we propose an elegant decentralized controller as the sum of a nominal tracking controller and the constructive barrier feedback for leader-follower formations under a directed single-spanning tree graph topology. The key ingredient is the use of divergent flow as a dissipative term, which slows down the relative velocity in the direction of the neighboring robots without compromising the nominal controller's performance. Compared to traditional barrier function-based optimization controllers, the proposed constructive barrier feedback avoids feasibility issues and results in more computationally efficient control algorithms with systematic equilibrium analysis. Simulations are provided to validate the effectiveness of the proposed control method. © 2023, CC BY-NC-ND.

关键词： Collision avoidance

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Observability is sufficient for the design of globally exponentially convergent state observers for state-affine nonlinear systems

arXiv

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arXiv 2021年

作者： Wang, Lei Ortega, Romeo Bobtsov, Alexei Australia Centre for Field Robotics The University of Sydney Australia Departamento Académico de Sistemas Digitales ITAM Mexico Faculty of Control Systems and Robotics ITMO University Russia

In this paper we are interested in the problem of state observation of state-affine nonlinear systems. Our main contribution is to propose a globally exponentially convergent observer that requires only the necessary assumption of observability of the system. To the best of the authors' knowledge this is the first time such a result is reported in the literature. © 2021, CC BY-NC-ND.

关键词： Observability

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Parameter Estimation and Adaptive control of Euler-Lagrange systems Using the Power Balance Equation Parameterization

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IFAC-PapersOnLine 2021年第19期54卷 119-124页

作者： J.G. Romero R. Ortega A.A. Bobtsov Departamento Académico de Sistemas Digitales ITAM Ciudad de México México Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russia

It is widely recognized that the existing parameter estimators and adaptive controllers for robot manipulators are extremely complicated to be of practical use. This is mainly due to the fact that the existing parameterization includes the complicated signal and parameter relations introduced by the Coriolis and centrifugal forces matrix. In an insightful remark of their seminal paper Slotine and Li suggested to use the parameterization of the power balance equation, which avoids these terms—yielding significantly simpler *** the best of our knowledge, such an approach was never actually pursued, mainly because the excitation requirements for the consistent estimation of the parameters is “very high". In this paper we use a recent technique of generation of “exciting" regressors developed by the authors to overcome this fundamental problem. The result is applied to general Euler-Lagrange systems and the fundamental advantages of the new parameterization are illustrated with comprehensive simulations of a 2 degrees-of-freedom robot manipulator.

关键词： Adaptive control systems identification Euler-Lagrange systems

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Cooperative Gradient-Free Localization and Tracking of Moving Environmental Boundaries by Teams of Nonholonomic Robots

Cooperative Gradient-Free Localization and Tracking of Movin...

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International Conference on control, Automation and systems ( ICCAS)

作者： Alexey S. Matveev Anna A.Semakova Alexander A.Kapitonov Ivan Berman Mathematics and Mechanics Faculty Saint-Petersburg State University Peterhof Saint Petersburg Russia Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia Peter the Great St.Petersburg Polytechnic University St.Petersburg Russia

A team of Dubins-vehicle-like robots travels in a plane that hosts an unpredictably varying scalar field. The team has to find and then closely follow the moving and deforming level set (isoline) where the field assumes a pre-specified value, and also has to autonomously achieve an effective self-distribution along the isoline, with the even one being the ideal option. Any robot can measure only the field value at the current location and the relative positions of the peers within a finite range of sensing; an exchange of data within a finite communication range is possible. Every robot is controlled by its longitudinal acceleration and angular velocity, which are limited in absolute value; the longitudinal speeds are bounded from both above and below with given constants. We present a hybrid navigation law that solves the mission; in particular, it ensures an effective self-distribution of the team along the isoline, which comes to the even one if the isoline eventually stops. The proposed law does not rely on estimation of the field’s gradient. Mathematically rigorous justification of this law is provided and its effectiveness is confirmed by computer simulation tests.

关键词： Location awareness Navigation Level set Current measurement Computer simulation Estimation Position measurement

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A Shadowcasting-Based Next-Best-View Planner for Autonomous 3D Exploration

arXiv

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arXiv 2021年

作者： Batinovic, Ana Ivanovic, Antun Petrovic, Tamara Bogdan, Stjepan University of Zagreb Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems Unska 3 Zagreb10000 Croatia

—In this paper, we address the problem of autonomous exploration of unknown environments with an aerial robot equipped with a sensory set that produces large point clouds, such as LiDARs. The main goal is to gradually explore an area while planning paths and calculating information gain in short computation time, suitable for implementation on an on-board computer. To this end, we present a planner that randomly samples viewpoints in the environment map. It relies on a novel and efficient gain calculation based on the Recursive Shadowcasting algorithm. To determine the Next-Best-View (NBV), our planner uses a cuboid-based evaluation method that results in an enviably short computation time. To reduce the overall exploration time, we also use a dead end resolving strategy that allows us to quickly recover from dead ends in a challenging environment. Comparative experiments in simulation have shown that our approach outperforms the current state-of-the-art in terms of computational efficiency and total exploration time. The video of our approach can be found at https://***/playlist?list=PLC0C6uwoEQ8ZDhny1V dmFXLeTQOSBibQl. © 2021, CC BY-SA.

关键词： Antennas

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