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arXiv 2023年

作者： Zhao, Wenshuai Rantala, Eetu-Aleksi Salimpour, Sahar Pajarinen, Joni Peña-Queralta, Jorge Department of Electrical Engineering and Automation Aalto University Finland Lab University of Turku Finland Institute of Robotics and Intelligent Systems ETH Zurich Switzerland

In many multi-agent and high-dimensional robotic tasks, controllers can be optimized centrally or decentrally, using either single-agent reinforcement learning (SARL) or multiagent reinforcement learning (MARL). However, the relationship between these two paradigms is not well-studied. This work aims to systematically investigate the robustness and performance of SARL and MARL in the same task. We first analytically show that independent Gaussian policies optimized by policy-gradient based SARL and MARL are equivalent under full-state observations. Following, we empirically show that in certain inherently single-agent tasks, perhaps surprisingly, we can use multiple agents to control a robot such that each agent only has access to partial observations. Since in these cases an agent does not depend on full state information multi-agent policies can provide additional robustness to perturbations and failures. Experiments on an illustrative decentralized control task and a mobile manipulation task with a real robot show that multiple agents with access to partial observations outperform a single agent when parts of the system fail. © 2023, CC BY.

关键词： Adversarial machine learning

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Motion Capture and Gait Analysis of Ants with Leg Injuries

Motion Capture and Gait Analysis of Ants with Leg Injuries

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第42届中国控制会议

作者： Ming Zeng Yuanhao Li Chang Meng Shutong Zhong Zhijing Wang Feng Zhao Institute of Robotics and Automation Systems Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System School of Electrical and Information Engineering Tianjin University

Many insects in nature, such as ants, recover quickly after sustaining leg injuries. If this capability could be imparted to multi-legged robots, it would drastically enhance their ability to resist destruction and adapt to the environment. In this paper, the Camponotus Japonicus is used as the research object, and its locomotive patterns are studied under different leg-loss *** facilitate this, a high-speed acquisition system, with a dual-view(bottom view and side view) setup, is designed to analyze the ant's linear gaits. Subsequently, the pivotal gait characteristics of the injured ants are extracted by keyframe annotation technology, including the gait phase diagram, duty factor, angle before support, angle before swing, and leg swing range. Lastly,according to the obtained gait characteristics, the general and specific laws of gait adjustment in the absence of one or two legs are systematically analyzed, which provides the basis for parametric settings and strategy optimization of robotic injured gait self-adjustment.

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Rock-Climbing Fish Inspired Skeleton-Embedded Rigid-Flexible Coupling Suction Disc Design for Adhesion Enhancement 16th

Rock-Climbing Fish Inspired Skeleton-Embedded Rigid-Flexible...

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Tan, Wenjun Qin, Hengshen Zhang, Chuang Wang, Ruiqian Zhang, Yiwei Yang, Lianchao Chen, Qin Wang, Feifei Xi, Ning Liu, Lianqing State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China Chengdu Institute of Biology Chinese Academy of Sciences Sichuan Chengdu610042 China Department of Electrical and Electronic Engineering University of Hong Kong 999077 Hong Kong Emerging Technologies Institute Department of Industrial and Manufacturing Systems Engineering University of Hong Kong Pokfulam999077 Hong Kong

ISBN: (纸本)9789819964888

Underwater high-performance biological adhesion systems have attracted increasing research interest to inspire engineered adhesion systems. Switchable underwater adhesion systems typically employ suction adhesion. However, achieving low pre-pressure negative pressure adhesion is still a challenge. An inspiring nature mode is provided by the rock-climbing fish, which needs little preload and can resist a pull-off force of 1000 times its own body weight. The pectoral and abdominal fins of rock-climbing fish have evolved to almost a flat suction cup. Through micro CT, we found that a unique skeletal network is embedded in the suction cup. This unique structure increases the stiffness of the suction cup and enhances its adhesion performance. Through numerical simulation, it was revealed that this rigid, flexible coupling structure enhances the ability of the suction cup to resist lateral pressure and increases the energy dissipation of the edge detachment of the suction cup. This work can shed light on the design of novel underwater adhesion systems and inspire underwater adhesion crawling robots. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Adhesion

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Design and Development of a Fixed-Wing Tail-Sitter Tethered VTOL Drone with Custom Autopilot and Robust Control Techniques 16th

Design and Development of a Fixed-Wing Tail-Sitter Tether...

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16th APCA International Conference on Automatic Control and Soft Computing, CONTROLO 2024

作者： Safaee, Ahmad Aguiar, A. Pedro Santos, Filipe Neves Moreira, Antonio Paulo SYSTEC-ARISE Research Center for Systems and Technologies Faculty of Engineering University of Porto Porto4200-465 Portugal INESC-TEC-Institute for Systems and Computer Engineering Technology and Science CRIIS-Centre for Robotics in Industry and Intelligent Systems Porto4200-465 Portugal INESC-TEC-Institute for Systems and Computer Engineering and DEEC/FEUP - Department of Electrical and Computer Engineering Faculty of Engineering of the University of Porto Porto4200-465 Portugal

ISBN: (纸本)9783031817236

The need for aerial platforms capable of sustained operation is critical in fields such as surveillance, agricultural monitoring, disaster response, and temporary telecommunication systems. Traditional unmanned aerial vehicles (UAVs) are hampered by limited battery capacity and inefficient energy utilization. This paper introduces an autonomous vertical flight drone tethered to a ground-based platform, which overcomes these limitations. The drone is designed to optimize its position and energy usage by harnessing wind currents, functioning similarly to a kite when conditions permit. This is enabled by a custom-designed autopilot system comprising both hardware and software tailored for this application. We detail the model identification process for three vertical take-off and landing (VTOL) drone systems, employing authentic data that measures lateral positional errors from the tether. Robust mixed sensitivity controllers are developed and implemented. The effectiveness of these controllers is validated through simulations showing their capability to handle uncertainties. Furthermore, the practical application and robust performance of the system are confirmed by a real-world case study, highlighting its potential in real operational environments. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： VTOL/STOL aircraft

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Radio Wave Propagation Inside Buried Sewer Pipes for Infrastructure robotics

Radio Wave Propagation Inside Buried Sewer Pipes for Infrast...

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European Conference on Microwave

作者： Viktor Doychinov Ian D. Robertson Institute of Robotics Autonomous Systems and Sensing School of Electronic and Electrical Engineering University of Leeds UK

ISBN: (纸本)9781665447218

Infrastructure robotics hold the potential to improve the maintenance of buried infrastructure, thus saving time, money, and effort. Here we present theoretical and experimental investigation of radio wave propagation inside buried sewer pipes, for the purposes of enabling the command and control of such robots. Good agreement between modelled and measured results lay the foundations for the development of system-level models for underground wireless networks.

关键词： Microwave measurement Command and control systems Propagation Wireless networks Europe Maintenance engineering Robots

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TTT: A Temporal Refinement Heuristic for Tenuously Tractable Discrete Time Reachability Problems

arXiv

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arXiv 2024年

作者： Sidrane, Chelsea Tumova, Jana The Division of Robotics Perception and Learning Intelligent Systems Department School of Electrical Engineering & Computer Science KTH Royal Institute of Technology Brinellvägen 8 Stockholm114 28 Sweden

Reachable set computation is an important tool for analyzing control systems. Simulating a control system can show that the system is generally functioning as desired, but a formal tool like reachability analysis can provide a guarantee of correctness. For linear systems, reachability analysis is straightforward and fast, but as more complex components are added to the control system such as nonlinear dynamics or a neural network controller, reachability analysis may slow down or become overly conservative. To address these challenges, much literature has focused on spatial refinement, e.g., tuning the discretization of the input sets and intermediate reachable sets. However, this paper addresses a different dimension: temporal refinement. The basic idea of temporal refinement is to automatically choose when along the horizon of the reachability problem to execute slow symbolic queries which incur less approximation error versus fast concrete queries which incur more approximation error. Temporal refinement can be combined with other refinement approaches and offers an additional "tuning knob" with which to trade off tractability and tightness in approximate reachable set computation. Here, we introduce an automatic framework for performing temporal refinement and we demonstrate the effectiveness of this technique on computing approximate reachable sets for nonlinear systems with neural network control policies. We demonstrate the calculation of reachable sets of varying approximation error under varying computational budget and show that our algorithm is able to generate approximate reachable sets with a similar amount of error to the baseline approach in 20-70% less time. © 2024, CC BY.

关键词： Linear systems

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NeuroKinect4K: A Novel 4K RGB-D-IR Video System with 3D Scene Reconstruction for Enhanced Epileptic Seizure Semiology Monitoring

NeuroKinect4K: A Novel 4K RGB-D-IR Video System with 3D Scen...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Tamás Karácsony Nicholas Fearns Christian Vollmar Denise Birk Jan Rémi Soheyl Noachtar João Paulo Silva Cunha Center for Biomedical Engineering Research (C-BER) Institute for Systems’ Engineering and Computers Technology & Science (INESC TEC) Porto Portugal Faculty of Engineering (FEUP) University of Porto Porto Portugal Robotics Institute Carnegie Mellon University Pittsburgh PA USA Department of Neurology Epilepsy Center University of Munich Munich Germany

ISBN: (数字)9798350371499

ISBN: (纸本)9798350371505

Epileptic seizures are clearly characterized by their displayed behavior, the semiology, which is used in diagnosis and classification as a base for therapy. This article presents a novel 4K 3D video recording and reviewing system for epilepsy monitoring, introducing a novel perspective and allowing continuous recording and review of 3D videos in the epilepsy monitoring unit (EMU), providing significantly more detail than the current clinical systems, which can lead to the recognition of more Movements of Interest (MOIs) and may reduce inter-rater variability. To put the system to an initial test in clinical practice the article presents three real-world examples of subtle MOIs, that could only be appreciated on the 4K-video, but not on the VGA-video, recorded as part of the clinical routine. In conclusion, a 4K-RGB recording, 3D cropping, and 3D video playing system was developed, implemented, and tested for realworld clinical scenarios, considering the specific requirements of clinical monitoring in EMUs. The new data acquisition setup can support clinical diagnosis, which may lead to new insights in the field of epilepsy and the development of AI approaches in the future.

关键词： Three-dimensional displays Reviews Epilepsy Medical treatment Semiotics systems support Artificial intelligence engineering in medicine and biology Monitoring Video recording

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IVR-SSM: Industrial Vehicular Robot Safe & Smart Move Using Wheel-Encoder and Inertial-RGB-Depth Measurements 30

IVR-SSM: Industrial Vehicular Robot Safe & Smart Move Using ...

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30th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2024

作者： Liu, Yuanhao Liang, Wei Wang, Chu Zhang, Xin Gao, Huanbing Zhang, Yinlong State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China School of Information and Electrical Engineering Shandong Jianzhu University Jinan China Shandong Key Laboratory of Intelligent Buildings Technology Jinan China

ISBN: (纸本)9798350391916

Safe & smart move (SSM) aims to help industrial vehicular robot (IVR), such as warehousing robots, running safely and smartly by detecting the obstacles in front and maintaining a safe distance & attitude. However, the traditional SSM methods suffer the drawbacks of limited ranges, inaccurate regression of safety distance & orientation between the robot and the forward unexpected obstacles, and the inappropriate IVR control strategies. To solve these issues, this paper designs an innovative real-time safety-aware framework using the complementary Wheel-Encoder and Inertial-RGB-Depth measurements to ensure the IVR running safely, reasonably and reliably. To estimate the robot running states, we take advantages of the complementary wheel encoder, monocular RGB images and inertial measurements to obtain the robot positions, orientations, angular and linear velocities in a tightly-coupled manner. To improve the safety relative distance & attitude estimation accuracy, we exploit the RGB and depth measurements in a task-oriented fashion. The forward obstacles with the specific contours are detected using the Mask-RCNN model, followed by the Gaussian Mixture Model to obtain the forward obstacle depth. Eventually, an IVR control strategy is designed to maintain the robot safety distance and orientation, and to keep the minimum damage to the robot mechanical system. The presented method has been evaluated on the developed industrial vehicular robot safety perception platform. The experimental results prove the competitiveness against the state-of-the-art methods. © 2024 IEEE.

关键词： Industrial robots

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Learning optimal controllers: a dynamical motion primitive approach

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IFAC-PapersOnLine 2023年第2期56卷 4776-4782页

作者： Hugo T.M. Kussaba Abdalla Swikir Fan Wu Anastasija Demerdjieva Gitta Kutyniok Sami Haddadin Chair of Robotics and Systems Intelligence Munich Institute of Robotics and Machine Intelligence Technical University of Munich Germany Department of Electrical and Electronic Engineering Omar Al-Mukhtar University Libya Mathematical Institute Ludwig-Maximilians University of Munich Germany Centre for Tactile Internet with Human-in-the-Loop (CeTI) Germany

Real-time computation of optimal control is a challenging problem and, to solve this difficulty, many frameworks proposed to use learning techniques to learn (possibly sub-optimal) controllers and enable their usage in an online fashion. Among these techniques, the optimal motion framework is a simple, yet powerful technique, that obtained success in many complex real-world applications. The main idea of this approach is to take advantage of dynamic motion primitives, a widely used tool in robotics to learn trajectories from demonstrations. While usually these demonstrations come from humans, the optimal motion framework is based on demonstrations coming from optimal solutions, such as the ones obtained by numeric solvers. As usual in many learning techniques, a drawback of this approach is that it is hard to estimate the suboptimality of learned solutions, since finding easily computable and non-trivial upper bounds to the error between an optimal solution and a learned solution is, in general, unfeasible. However, we show in this paper that it is possible to estimate this error for a broad class of problems. Furthermore, we apply this estimation technique to achieve a novel and more efficient sampling scheme to be used within the optimal motion framework, enabling the usage of this framework in some scenarios where the computational resources are limited.

关键词： Real-time optimal control Learning from control Autonomous robotic systems

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Dynamic Environment-based Visual User Interface System for Intuitive Navigation Target Selection for Brain-actuated Wheelchairs

Dynamic Environment-based Visual User Interface System for I...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Ricardo Pereira Aniana Cruz Luís Garrote Gabriel Pires Ana Lopes Urbano J. Nunes Department of Electrical and Computer Engineering Institute of Systems and Robotics University of Coimbra Portugal Polytechnic Institute of Tomar Portugal

ISBN: (数字)9781728188591

ISBN: (纸本)9781665406802

Visual user interface paradigms are one of the key modules for brain-actuated wheelchairs, which are a class of promising assistive devices that can increase the autonomy and mobility of people suffering from severe motor impairments. This work proposes a Dynamic Environment-based Visual Interface System (DEVIS) for intuitive navigation target selection for brain-actuated wheelchairs. It is composed of a novel Dynamic Visual Interface (DVI), an RGB image-based perception module (indoor scene classification, object detection and classification, and object tracking), and a P300-based BCI. The DVI displays potential navigation goals in three forms of visual cues: an RGB camera image streaming with object bounding boxes overlaid on objects detected and tracked, three global points of interest (indoor places), and two static commands. Hence, the DVI allows a user to select, through the P300-based BCI, navigation targets/commands that are flashing independently and randomly to create an oddball paradigm. Experimental evaluations were carried out in a dynamic setting with 5 participants, who were asked to select targets displayed in the DVI. The dynamic setting was obtained using RGB image sequences of the ISR-RGB-D Dataset, which represents a mission performed by a mobile robotic platform. The target selection was performed through a P300-based BCI, using non-self-paced and self-paced modalities. The obtained results show that the proposed DEVIS can run in real-time and that users are able to correctly select targets with high BCI accuracy rates.

关键词： Visualization Target tracking Navigation Wheelchairs User interfaces Streaming media Real-time systems

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