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 inter...
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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 controlla...
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.
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 ...
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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 controlsystems.
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...
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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.
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 incorpora...
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.
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 rob...
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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 ...
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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 paramet...
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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.
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 assum...
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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.
—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 graduall...
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