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作者： Srinivasa, Siddhartha S. Berenson, Dmitry Cakmak, Maya Collet, Alvaro Dogar, Mehmet R. Dragan, Anca D. Knepper, Ross A. Niemueller, Tim Strabala, Kyle Vande Weghe, Mike Ziegler, Julius Robotics Institute Carnegie Mellon University Pittsburgh PA 15213 United States Electrical Engineering and Computer Science Department University of California Berkeley Berkeley 94703 United States School of Interactive Computing Georgia Institute of Technology Atlanta GA 30332 United States Knowledge-based Systems Group RWTH Aachen University Aachen 52062 Germany Department of Measurement and Control Systems Karlsruhe Institute of Technology Karlsruhe D-76128 Germany

We present the hardware design, software architecture, and core algorithms of Herb 2.0, a bimanual mobile manipulator developed at the Personal robotics Lab at Carnegie Mellon University, Pittsburgh, PA. We have developed Herb 2.0 to perform useful tasks for and with people in human environments. We exploit two key paradigms in human environments: that they have structure that a robot can learn, adapt and exploit, and that they demand general-purpose capability in robotic systems. In this paper, we reveal some of the structure present in everyday environments that we have been able to harness for manipulation and interaction, comment on the particular challenges on working in human spaces, and describe some of the lessons we learned from extensively testing our integrated platform in kitchen and office environments. © 2012 IEEE.

关键词： Motion planning

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Saturated Output Feedback Control of a Quadrotor Aircraft

Saturated Output Feedback Control of a Quadrotor Aircraft

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American Control Conference

作者： D. Cabecinhas R. Cunha C. Silvestre Department of Electrical Engineering and Computer Science and Institute for Robotics and Systems in Engineering and Science (LARSyS) Instituto Superior Tecnico Universidade Tecnica de Lisboa 1049-001 Lisboa Portugal

ISBN: (数字)9781457710964

ISBN: (纸本)9781457710957

This paper addresses the problem of steering a quadrotor vehicle along a prescribed trajectory. The problem is formulated so as to enforce bounds on the thrust actuation and present robustness against possible disturbances resulting from errors in the estimation of the aircraft state. The proposed solution consists of a nonlinear state feedback controller for thrust and torque actuation that i) guarantees asymptotic stability of the closed-loop system in the presence of exponentially decaying observer errors, ii) ensures global regulation of the trajectory tracking errors, and iii) defines the thrust actuation as a saturated function of the position and linear velocity errors. Simulation results are presented to assess the performance and robustness of the proposed controller.

关键词： Trajectory Vehicles Observers Lyapunov methods Convergence Vectors Robustness

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Almost Global Stabilization of a Vertical Take-Off and Landing Aircraft in Hovered Flight

Almost Global Stabilization of a Vertical Take-Off and Landi...

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American Control Conference

作者： P. Casau D. Cabecinhas C. Silvestre Department of Electrical Engineering and Computer Science and Institute for Robotics and Systems in Engineering and Science (LARSyS) Instituto Superior Tecnico Universidade Tecnica de Lisboa 1049-001 Lisboa Portugal

ISBN: (纸本)9781457710957

This paper proposes a controller which stabilizes a fixed-wing Unmanned Air Vehicle (UAV) in hovered flight. A six degree-of-freedom dynamic model is developed for an underactuated model-scale aircraft and a simpler three degree-of-freedom model is derived for controller design purposes. A novel nonlinear controller which renders the hovering position of the simplified system dynamics almost globally exponentially stable is proposed. Lateral stabilization is achieved by means of classic linear optimal control techniques. The nonlinear controller is designed so as to provide unidirectional thrust. Moreover, the closed-loop system is Input-to-State Stable (ISS) in the presence of unknown disturbances. Realistic simulation results demonstrate the controller's effectiveness and robustness when dealing with the problem at hand.

关键词： Aircraft Aerodynamics Atmospheric modeling Aerospace control Vehicle dynamics Standards Vehicles

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Wind Turbines Fault Detection and Identification Using Set-Valued Observers

Wind Turbines Fault Detection and Identification Using Set-V...

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American Control Conference

作者： P. Casau P. Rosa C. Silvestre Department of Electrical Engineering and Computer Science and Institute for Robotics and Systems in Engineering and Science (LARSyS) Instituto Superior Tecnico Universidade Tecnica de Lisboa 1049-001 Lisboa Portugal

ISBN: (纸本)9781457710957

Research on wind turbine Operations & Maintenance (O&M) procedures is critical to the expansion of Wind Energy Conversion systems (WEC). In order to reduce O&M costs and increase the lifespan of the turbine, we study the application of Set-Valued Observers (SVO) to the problem of Fault Detection and Isolation (FDI) of wind turbines, by taking advantage of the recent advances in SVO theory for model invalidation. A simple wind turbine model is presented along with possible faulty scenarios. The SVO algorithm is built upon these dynamics, taking into account process disturbances, model uncertainty, and measurement noise. The FDI algorithm is assessed within a publicly available benchmark model, using Monte-Carlo simulation runs.

关键词： Wind Energy Conversion systems Defect detection Monte Carlo technique Noise measurement Observers turbines Life span operational approach

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D-ADMM: A distributed algorithm for compressed sensing and other separable optimization problems

D-ADMM: A distributed algorithm for compressed sensing and o...

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International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： João F. C. Mota João M. F. Xavier Pedro M. Q. Aguiar Markus Püschel Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh USA Institute of Systems and Robotics Instituto Superior Técnico Technical University of Lisbon Portugal Department of Computer Science ETH Zurich Switzerland

We propose a distributed, decentralized algorithm for solving separable optimization problems over a connected network of compute nodes. In a separable problem, each node has its own private function and its own private constraint set. Private means that no other node has access to it. The goal is to minimize the sum of all nodes' private functions, constraining the solution to be in the intersection of all the private sets. Our algorithm is based on the alternating direction method of multipliers (ADMM) and requires a coloring of the network to be available beforehand. We perform numerical experiments of the algorithm, applying it to compressed sensing problems. These show that the proposed algorithm requires in general less iterations, and hence less communication between nodes, than previous algorithms to achieve a given accuracy.

关键词： Optimization Compressed sensing Signal processing algorithms Minimization Color Convergence Image color analysis

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A landmark-based controller for global asymptotic stabilization on SE(3)

A landmark-based controller for global asymptotic stabilizat...

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IEEE Conference on Decision and Control

作者： Pedro Casau Ricardo G. Sanfelice Rita Cunha Carlos Silvestre Department of Electrical Engineering and Computer Science and Institute for Robotics and Systems in Engineering and Science (LARSyS) Instituto Superior Técnico Universidade Técnica de Lisboa Lisboa Portugal Department of AeroSpace and Mechanical Engineering University of Arizona AZ USA Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau Macao China

In this paper, we address the problem of designing a landmark-based control law that robustly globally asymptotically stabilizes a rigid body at a desired equilibrium point on the SE(3) manifold. Synergistic potential functions are combined within a hybrid systems framework to generate such a hybrid control law. The proposed control law is solely a function of vector measurements characterizing the position of some given landmarks. We provide sufficient conditions on the geometry of the landmarks to solve the given problem. Finally, the proposed solution is simulated and compared with an almost global continuous feedback control law.

关键词： Vectors Eigenvalues and eigenfunctions Noise Robustness Feedback control Manifolds Geometry

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A novel swarm intelligence algorithm and its application in solving wireless sensor networks coverage problems

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Journal of Networks 2012年第12期7卷 2037-2043页

作者： Mo, Yuanbin Liu, Jizhong Wang, Baolei Jonathan Wu, Q.M. College of Mathematics and Computer Science Guangxi University for Nationalities Nanning 530006 China School of Mechanical and Electrical Engineering Institute of Robotics of Nanchang University Nanchang University Nanchang 330031 China Department of Electrical and Computer Engineering Computer Vision and Sensing Systems Laboratory University of Windsor Windsor N9B3P4 Canada

Wireless sensor networks (WSNs) have attracted a great deal of research due to their wide-range of potential applications. Sensor deployment and coverage problems are their important issues. This article briefly introduces the principle of swarm intelligence (SI). A novel SI algorithm based on information sharing of Particle Swarm Optimization (PSO) and diversity maintenance mechanism of Artificial Immune System (AIS) is designed and the model of coverage problems is given. Its applications in solving different deterministic and random coverage problems are given. The algorithm used in obtaining maximum coverage probability with given number of sensor nodes and minimum number of sensor nodes with required coverage probability of WSNs deterministic coverage, and determining the selected sensor nodes with coverage probability and connectivity requirement of WSNs random coverage, are analyzed in detail. The simulation results show the algorithm is practical. The applications of SI on K- coverage and connectivity problems in the future are also projected in the article. © 2012 ACADEMY PUBLISHER.

关键词： Swarm intelligence

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Products of Stochastic Matrices: Large Deviation Rate for Markov Chain Temporal Dependencies

Products of Stochastic Matrices: Large Deviation Rate for Ma...

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Annual Allerton Conference on Communication, Control, and Computing

作者： Dragana Bajovic Joao Xavier Bruno Sinopoli Institute for Systems and Robotics (ISR) Instituto Superior Tecnico (IST) Technical University of Lisbon Department of Electrical and Computer Engineering Carnegie Mellon University

ISBN: (纸本)9781467345378

We find the large deviation rate I for convergence in probability of the product W_k … W_1W_0 of temporally dependent random stochastic matrices. As the model for temporal dependencies, we adopt the Markov chain whose set of states is the set of all possible graphs that support the matrices W_k. Such model includes, for example, 1) token-based protocols, where a token is passed among nodes to determine the order of processing;and 2) temporally dependent link failures, where the temporal dependence is modeled by a Markov chain. We characterize the rate I as a function of the Markov chain transition probability matrix P. Examples further reveal how the temporal correlations (dependencies) affect the rate of convergence in probability I.

关键词： Markov processes Symmetric matrices Correlation Upper bound Protocols Convergence

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Consensus+Innovations Detection: Phase Transition Under Communication Noise

Consensus+Innovations Detection: Phase Transition Under Comm...

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Annual Allerton Conference on Communication, Control, and Computing

作者： Dusan Jakovetic Jose M. F. Moura Joao Xavier Department of Electrical and Computer Engineering Carnegie Mellon University Institute for Systems and Robotics (ISR) Instituto Superior Tecnico (IST) Technical University of Lisbon

ISBN: (纸本)9781467345378

We consider the tradeoffs between sensing and communication in a consensus+innovations distributed detection problem when the local communications among agents are noisy. Intuitively, we can expect that the error performance of the distributed detector is affected by both the sensing noise and the noise corrupting the communication among agents in the network. Too little communication (cooperation) and the distributed detector error performance will be dominated by the sensing noise. Too much communication and the detector error performance is dominated by the communication noise. We make this tradeoff precise through a large deviations analysis, i.e., by studying the exponential decay rate of the probability of error of the consensus+innovations distributed detector at each agent. Under a mild assumption of network connectedness, we show: 1) the weight sequences affecting the consensus and innovations potentials in the distributed detector need to be carefully designed for the error probability at every agent detector to decay exponentially fast;2) the network exhibits a phase transition with respect to the communication noise power. Below a threshold on the communication noise power, cooperation (communication) among agents improves the error detection performance;above threshold, inter-agent communication does not enhance the error detection performance.

关键词： noise(communication) error performance Phase transtormations Agents Communication Research detector NETWORKING AGENT Error probability Noise tradeoffs Error detection Distribute

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Distributed learning in large-scale multi-agent games: A modified fictitious play approach

Distributed learning in large-scale multi-agent games: A mod...

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Asilomar Conference on Signals, systems & computers

作者： Brian Swenson Soummya Kar João Xavier Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA Institute for Systems and Robotics(lSR) Instituto Superior Tecnico (1ST) Technical University of Lisbon Portugal

The paper concerns the development of distributed equilibria learning strategies in large-scale multi-agent games with repeated plays. With inter-agent information exchange being restricted to a preassigned communication graph, the paper presents a modified version of the fictitious play algorithm that relies only on local neighborhood information exchange for agent policy update. Under the assumption of identical agent utility functions that are permutation invariant, the proposed distributed algorithm leads to convergence of the networked-averaged empirical play histories to a subset of the Nash equilibria, designated as the consensus equilibria. Applications of the proposed distributed framework to strategy design problems encountered in large-scale traffic networks are discussed.

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