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Relative Localizability and Localization for Multirobot Systems

IEEE Transactions on robotics 2025年 41卷 2931-2949页

作者： Chen, Liangming Liang, Chenyang Yuan, Shenghai Cao, Muqing Xie, Lihua Southern University of Science and Technology School of System Design and Intelligent Manufacturing Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology Shenzhen518055 China Harbin Institute of Technology School of Mechanical Engineering and Automation Shenzhen518055 China Southern University of Science and Technology School of System Design and Intelligent Manufacturing Shenzhen518055 China Nanyang Technological University School of Electrical and Electronic Engineering 639798 Singapore Carnegie Mellon University Robotics Institute PittsburghPA15213 United States

Inter-robot relative positions are crucial for executing various multirobot missions, such as formation maneuvering and collaborative inspection. However, the current sensing technology usually provides part of relative position information, such as inter-robot distances, bearings and angles. This prompts the study of determining inter-robot relative positions, i.e., relative localization, from these partial measurements. Based on the existing results of static networks' localizability and mobile robots' relative localization, we propose a novel concept, relative localizability to describe whether a multirobot system is relatively localizable. Given each robot's self-displacement measurements and inter-robot partial measurements in d (d ≤ 4) sampling instants, we show that a multirobot system's relative localization can be achieved in a purely algebraic and distributed manner, in which the multirobot system is said to be d-step relatively localizable. To make the results more general, we consider that the multirobot system consists of landmarks, leaders, and followers, and that the inter-robot measurements can be distances, bearings or angles. When robots' coordinate frames have different orientations, we show that the given local measurements can be used to determine robots' relative positions and their coordinate frames' relative orientations simultaneously. Simulations and experiments of relative localization for ground robots are conducted to validate the obtained results. © 2004-2012 IEEE.

关键词： Multipurpose robots

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ON THE DISCRETE COSINE TRANSFORM COMPUTATION

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SIGNAL PROCESSING 1994年第2-3期40卷 183-194页

作者： BRITANAK, V Institute of Control Theory and Robotics Slovak Academy of Sciences Dúbravská cesta 9 842 37 Bratislava Slovak Republic

A generalized signal flow graph for the forward and inverse discrete cosine transform (DCT) based on the Hou's recursive algorithm is described. The regular structure of the generalized signal flow graph enables to realize the DCT and inverse DCT computation for any given N = 2m, m > 0, and is effectively implementable on a VLSI chip. Computer program for the DCT and inverse DCT computation is also presented.

关键词： ORTHOGONAL TRANSFORM DISCRETE COSINE TRANSFORM

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A UNIFIED DISCRETE COSINE AND DISCRETE SINE TRANSFORM COMPUTATION

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SIGNAL PROCESSING 1995年第3期43卷 333-339页

作者： BRITANAK, V Institute of Control Theory and Robotics Slovak Academy of Sciences Dubravska cesta 9 842 37 Bratislava Slovak Republic

The discrete cosine transform (DCT) and the discrete sine transform (DST) are members of the sinusoidal family of unitary transforms. A generalized signal flow graph for the DCT/DST of type II (DCT-II/DST-II) computation and their inverses DCT-III/DST-III is described. It is based on the fast, recursive and numerically stable Hou's algorithm. The generalized signal flow graph represents a unified approach to the fast DCT-II/DST-II and DCT-III/DST-III computation for any N = 2(m), m > 0. It is suitable for the implementation on the universal VLSI chip.

关键词： ORTHOGONAL TRANSFORMS DISCRETE COSINE TRANSFORM DISCRETE SINE TRANSFORM DISCRETE SINUSOIDAL TRANSFORMS

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A VLSI multigrid poisson solver amenable to biharmonic equation 2nd

A VLSI multigrid poisson solver amenable to biharmonic equat...

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2nd Joint International Conference on Vector and Parallel Processing, CONPAR 1992

作者： Vajteršic, Marián Institute of Control Theory and Robotics Slovak Academy of Sciences Bratislava Serbia

ISBN: (纸本)9783540558958

A VLSI parallel algorithm for solving discretized Poisson equation on an N×N grid is proposed. A standard multigrid algorithm is adopted which allows a parallel solution of this problem in T=O(logN) time steps. A special network consisting of N × N processor elements and of O(NlogN) interconnection lines in each direction results in a design the area of which is O(N2log2N). Thus, the AT2 estimation for this Poisson solver is O(N2log4N) which improves the best result known until now by factor of O(N/logN). An application of the multigrid Poisson solver is made to a VLSI semidirect biharmonic solver. The VLSI layout needs an area A=O(N3logN) and the time of algorithm is O(√Nlog2N). The total complexity for the VLSI biharmonic solver is AT2=O(N4log5N) which is of the same order as for the best algorithms developed until now. © Springer-Verlag Berlin Heidelberg 1992.

关键词： Poisson equation

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Observer-based synchronization of heterogeneous multi-agent systems by homogenization

Observer-based synchronization of heterogeneous multi-agent ...

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1st Australian control Conference, AUCC 2011

作者： Wahrburg, Arne Adamy, Jürgen Institute of Automatic Control Control Theory and Robotics Lab Technische Universität Darmstadt Germany

ISBN: (纸本)9780858259874

In this article a distributed control law for the full- and partial-state synchronization of possibly exponentially unstable linear heterogeneous multi-agent systems is presented. The design is based on the estimation of the absolute position of the agents which is used to compensate for the heterogeneity. Thereby, it is possible to reduce the problem to the known synchronization of linear homogeneous agents under certain conditions on the communication topology and the agent dynamics. © 2011 ENGINEERS AUSTRALIA & AUSTRALIAN OPTICAL.

关键词： Multi agent systems

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Robust observer-based fault detection and isolation in the standard control problem framework

Robust observer-based fault detection and isolation in the s...

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7th IFAC Symposium on Robust control Design, ROCOND'12

作者： Wahrburg, Arne Khodaverdian, Saman Adamy, Jürgen Institute of Automatic Control Control Theory and Robotics Lab. Technische Universität Darmstadt Germany

ISBN: (纸本)9783902823038

This paper deals with the design of robust fault detection and isolation observers where only a single observer is employed to isolate different faults. To this end, the problem of parameterizing such observers is shown to be equivalent to designing a structurally constrained controller in the standard control problem framework. Thereby, the problem is reformulated as a well known classical control problem, which enables the use of existing tools to optimize robustness with respect to arbitrary exogenous disturbances. To account for parametric uncertainties, an approximate model matching approach is used. © 2012 IFAC.

关键词： Fault detection

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Master-slave synchronization for nonlinear systems based on reduced observers

Master-slave synchronization for nonlinear systems based on ...

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作者： Wahrburg, Arne Listmann, Kim D. Adamy, Jürgen Institute of Automatic Control Control Theory and Robotics Lab. Technische Universität Darmstadt Germany

ISBN: (纸本)9783902661937

In this article a global method for master-slave synchronization of nonlinear systems is provided. Based on a diffeomorphic transformation of the original dynamics, a reduced observer is designed such that the nonlinear state feedback law is independent of the inertial frame. Generally, the method requires non trivial computations but leads to global convergence results for the invariant tracking error. We illustrate the design procedure in detail for a master-slave synchronization of a bacterial growth model, which may escape to infinity in finite time. © 2011 IFAC.

关键词： Synchronization

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Robust fault isolation observers for non-square systems - A parametric approach

Robust fault isolation observers for non-square systems - A ...

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8th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes, SAFEPROCESS 2012

作者： Wahrburg, Arne Adamy, Jürgen Institute of Automatic Control Control Theory and Robotics Lab. Technische Universität Darmstadt Germany

ISBN: (纸本)9783902823090

In this article, a linear matrix inequality (LMI)-based design for robust fault isolation observers (FIOs) for linear systems with arbitrary fault detectability indices is presented. A parametric design is used to achieve stable fault isolation in square systems as well as non-square systems. Based on this design, the influence of arbitrary disturbances is attenuated by a proper optimization of the observer gain matrices. The applicability of the proposed design is verified in simulations of a helicopter model. © 2012 IFAC.

关键词： Linear matrix inequalities

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Synchronizing linear heterogeneous networks by output homogenization 19

Synchronizing linear heterogeneous networks by output homoge...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Khodaverdian, Saman Adamy, Jürgen Institute of Automatic Control and Mechatronics Laboratory of Control Theory and Robotics Technische Universität Darmstadt Germany

ISBN: (纸本)9783902823625

This article deals with the synchronization of heterogeneous multi-agent systems. A simple distributed control law is provided to solve the problem. The presented approach is based on the idea to ascribe the heterogeneous case to a homogeneous synchronization task, for which the solution is well known. The presented method is applicable to networks of completely different agents, even with different dimensions. Additionally, the communication effort is minimized because only the states which are to be synchronized need to be exchanged through the network. An example illustrates the efficiency of the concept. © IFAC.

关键词： Multi agent systems

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Payoff-Based Approach to Learning Nash Equilibria in Convex Games

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IFAC-PapersOnLine 2017年第1期50卷 1508-1513页

作者： Tatarenko T. Kamgarpour M. Department of Control Theory and Robotics TU Darmstadt Germany Automatic Control Laboratory Swiss Federal Institute of Technology Zurich Switzerland

We consider multi-agent decision making, where each agent optimizes its cost function subject to constraints. Agents’ actions belong to a compact convex Euclidean space and the agents’ cost functions are coupled. We propose a distributed payoff-based algorithm to learn Nash equilibria in the game between agents. Each agent uses only information about its current cost value to compute its next action. We prove convergence of the proposed algorithm to a Nash equilibrium in the game leveraging established results on stochastic processes. The performance of the algorithm is analyzed with a numerical case study. © 2017

关键词： game theory Multi-agent decision making payoff-based algorithm

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