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Toward the Deployment of an Ultra-Wideband Localization Test Bed

Toward the Deployment of an Ultra-Wideband Localization Test...

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IEEE 74th Vehicular Technology Conference (VTC)

作者： Feldman, Alexander Bahr, Alexander Colli-Vignarelli, James Robert, Stephan Dehollain, Catherine Martinoli, Alcherio Institute for Information and Communication Technologies Haute Ecole d'Ingénierie et de Gestion du Canton de Vaud (HEIG-VD) Switzerland Distributed Intelligent Systems and Algorithms Laboratory Ecole Polytechnique Fédérale de Lausanne (EPFL) Switzerland Radio Frequency Integrated Circuit Group Ecole Polytechnique Fédérale de Lausanne (EPFL) Switzerland

ISBN: (纸本)9781424483273

The design, development, and deployment of Ultra-Wideband (UWB) localization systems involves digital and Radio-Frequency (RF) hardware, embedded software, localization algorithms, security and reliability aspects, electromagnetics, and others. Design and integration decisions affect the performance of an UWB system, in particular the most important metrics: localization accuracy and position update rate. To facilitate further development of UWB localization systems and to analyze some of the major trade-offs we share our experience in deploying the EPFL UWB-Lite test bed (U-LITE). We describe an approach to numerical simulation modeling that can help in the design and evaluation of UWB localization systems. To validate our approach we show experimental results with one transmitter and one receiver. Our UWB test bed includes a mobile robot platform, so we can study and evaluate the UWB performance trade-offs in real-world conditions.

关键词： Accuracy Demodulation Radio frequency Radio transmitters Receivers Robots electromagnetic waves electromagnetics embedded software embedded systems localization algorithms position update rate radiofrequency hardware real world conditions ultra wideband c

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The sliced Gaussian mixture filter for efficient nonlinear estimation

The sliced Gaussian mixture filter for efficient nonlinear e...

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International Conference on Information Fusion

作者： Vesa Klumpp Felix Sawo Uwe D. Hanebeck Dietrich Franken Intelligent Sensor-Actuator-Systems Laboratory Institute of Computer Science and Engineering Universität Karlsruhe Germany Data Fusion Algorithms and Software EADS Deutschland GmbH Ulm Germany

This paper addresses the efficient state estimation for mixed linear/nonlinear dynamic systems with noisy measurements. Based on a novel density representation - sliced Gaussian mixture density - the decomposition into a (conditionally) linear and nonlinear estimation problem is derived. The systematic approximation procedure minimizing a certain distance measure allows the derivation of (close to) optimal and deterministic estimation results. This leads to high-quality representations of the measurement-conditioned density of the states and, hence, to an overall more efficient estimation process. The performance of the proposed estimator is compared to state-of-the-art estimators, like the well-known marginalized particle filter.

关键词： Approximation methods Estimation Particle filters Function approximation Particle measurements Atmospheric measurements Nonlinear dynamical systems

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A distributed formation-based odor source localization algorithm - design, implementation, and wind tunnel evaluation

A distributed formation-based odor source localization algor...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Jorge M. Soares A. Pedro Aguiar António M. Pascoal Alcherio Martinoli Laboratory of Robotics and Systems in Engineering and Science University of Lisbon Lisboa Portugal Distributed Intelligent Systems and Algorithms Laboratory Ecole Polytechnique Fédérale de Lausanne (EPFL) Lausanne Switzerland Faculty of Engineering University of Porto Research Center for Systems and Technology Porto Portugal

ISBN: (纸本)9781479969241

Robotic odor source localization is a promising tool with numerous applications in safety, search and rescue, and environmental science. In this paper, we present an algorithm for odor source localization using multiple cooperating robots equipped with chemical sensors. Laplacian feedback is employed to maintain the robots in a formation, introducing spatial diversity that is used to better establish the position of the flock relative to the plume and its source. Robots primarily move upwind but use odor information to adjust their position and spacing so that they are centered on the plume and trace its structure. Real-world experiments were performed with an ethanol plume inside a wind tunnel, and used to both validate the algorithm and assess the impact of different formation shapes.

关键词： Robot sensing systems Robot kinematics Algorithm design and analysis Shape Hardware

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Local graph-based distributed control for safe highway platooning

Local graph-based distributed control for safe highway plato...

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2010 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Sven Gowal Riccardo Falconi Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory Ecole Polytechnique Fédérale de Lausanne Switzerland Dipartimento di Elettronica Informatica e Sistemistica Università di Bologna Italy

Using graph theory, this paper investigates how a group of vehicles, endowed with local positioning capabilities (range and bearing to other vehicles), can keep a predefined formation. We propose a longitudinal and lateral controller that stabilizes a system of several vehicles as well as a collision avoidance mechanism. The stability of our approach is supported by a mathematical analysis as well as realistic simulations.

关键词： Vehicles Laplace equations Equations Feedback control Trajectory Graph theory Stability analysis

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Learning cost function and trajectory for robotic writing motion

Learning cost function and trajectory for robotic writing mo...

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IEEE-RAS International Conference on Humanoid Robots

作者： Hang Yin Ana Paiva Aude Billard Intelligent Agents and Synthetic Characters Group (GAIPS) University of Lisbon Portugal Ecole Polytechnique Fédérale de Lausanne (EPFL) Learning Algorithms and Systems Laboratory (LASA) Switzerland

ISBN: (纸本)9781479971756

We present algorithms for inferring the cost function and reference trajectory from human demonstrations of hand-writing tasks. These two key elements are then used, through optimal control, to generate an impedance-based controller for a robotic hand. The key novelty lies in the flexibility of the feature design in the composition of the cost function, in contrast to the traditional approaches that consider linearly combined features. Cross-entropy-based methods form the core of our learning technique, resulting in sample-based stochastic algorithms for task encoding and decoding. The algorithms are validated using an anthropomorphic robot hand. We assess that the correct compliance is well encapsulated by subjecting the robot to perturbations during task reproduction.

关键词： Trajectory Robots Cost function Optimal control Decoding Stochastic processes

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Flexible triangular formation keeping of marine robotic vehicles using range measurements 19

Flexible triangular formation keeping of marine robotic vehi...

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

作者： Rego, Francisco Soares, Jorge M. Pascoal, António Aguiar, A. Pedro Jones, Colin Laboratory of Robotics and Systems in Engineering and Science Instituto Superior Técnico University of Lisbon Lisbon Portugal Department of Electrical and Computer Engineering Faculty of Engineering University of Porto Porto Portugal Institute of Mechanical Engineering School of Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland National Institute of Oceanography Dona Paula Goa India

ISBN: (纸本)9783902823625

This paper addresses the problem of keeping an autonomous marine vehicle in a moving triangular formation by regulating its position with respect to two leader vehicles. The follower vehicle has no prior knowledge of the path described by the leaders but has access to their heading angle and is able to measure inter-vehicle ranges. It is assumed that the distance between the leaders is constant and known. A control strategy is adopted that generates speed and heading commands so as to drive suitably defined along track and cross track errors to zero. The commands are used as input to local inner loops for yaw and speed control. The paper describes the algorithms derived for range-based control and assesses their performance in simulations using realistic models of the vehicles involved. Tests with three autonomous marine vehicles equipped with acoustic modems and ranging devices allow for the evaluation of the performance of the algorithms in a real-world situation. © IFAC.

关键词： Vehicle performance

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Towards Multi-Level Modeling of Self-Assembling intelligent Micro-systems 09

Towards Multi-Level Modeling of Self-Assembling Intelligent ...

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International Conference on Autonomous Agents and Multiagent systems

作者： Gregory Mermoud Juergen Brugger Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory EPFL-ENAC-ISTE-DISAL Ecole Polytechnique Federale de Lausanne (EPFL) Microsystems Laboratory EPFL-STI-IMT-LMIS Ecole Polytechnique Federale de Lausanne (EPFL)

ISBN: (纸本)9781615673346

We investigate and model the dynamics of two-dimensional stochastic self-assembly of intelligent micro-systems with minimal requirements in terms of sensing, actuation, and control. A microscopic agent-based model accounts for spatiality and serves as a baseline for assessing the accuracy of models at higher abstraction level. Spatiality is relaxed in Monte Carlo simulations, which still capture the binding energy of each individual aggregate. Finally, we introduce a macroscopic model that only keeps track of the average number of aggregates in each energy state. This model is able to quantitatively and qualitatively predict the dynamics observed at lower, more detailed modeling levels. Since we investigate an idealized system, thus making very few assumptions about the exact nature of the final target system, our framework is potentially applicable to a large body of self-assembling agents ranging from functional micro.-robots endowed with simple sensors and actuators to elementary microfabricated parts. In particular, we show how our suite of models at different abstraction levels can be used for optimizing both the design of the building blocks and the control of the stochastic process.

关键词： Theory Performance Design Aggregation Self-assembly Micro-robotics Monte Carlo simulations Macroscopic modeling Multi-level modeling Monte Carlo technique hierarchical models Abstraction Markov chain theories Macroscopic models Self-assembly aggregates agglomeration

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Dynamic Positioning of Beacon Vehicles for Cooperative Underwater Navigation

Dynamic Positioning of Beacon Vehicles for Cooperative Under...

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IEEE/RSJ International Conference on intelligent Robotics and systems

作者： Alexander Bahr John J. Leonard Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory at the Ecole Poly-technique Fédérale de Lausanne， Lausanne， Switzerland Department of Mechanical Engineering at Massachusetts Institute of Technology Cambridge MA USA

ISBN: (纸本)9781467317375

Autonomous Underwater Vehicles (AUVs) are used for an ever increasing range of applications due to the maturing of the technology. Due to the absence of the GPS signal underwater, the correct estimation of its position is a challenge for submerged vehicles. One promising strategy to mitigate this problem is to use a group of AUVs where one or more assume the role of a beacon vehicle which has a very accurate position estimate due to an expensive navigation suite or frequent surfacings. These beacon vehicles broadcast their position and the remaining survey vehicles can use this position information and intra-vehicle ranges to update their position estimate. The effectiveness of this approach strongly depends on the geometry between the beacon vehicles and the survey vehicles. The trajectories of the beacon vehicles should thus be planned with the goal to minimize the position uncertainty of the survey vehicles. We propose a distributed algorithm which dynamically computes the locally optimal position for a beacon vehicle using only information obtained from broadcast communication of the survey vehicles. It does not need prior information about the survey vehicles' trajectory and can be used for any group size of beacon and survey vehicles.

关键词： AUVs GPS survey vehicles vehicle Autonomous underwater vehicles Underwater navigation position estimation Global Positioning systems Group Size POSITION INFORMATION Dynamic positioning distributed algorithms

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Graph-based distributed control for adaptive multi-robot patrolling through local formation transformation

Graph-based distributed control for adaptive multi-robot pat...

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IEEE/RSJ International Conference on intelligent Robots and systems

作者： Alicja Wasik Jose N. Pereira Rodrigo Ventura Pedro U. Lima Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering école Polytechnique Fédérale de Lausanne Switzerland Institute for Systems and Robotics Instituto Superior Técnico Universidade de Lisboa Portugal

ISBN: (纸本)9781509037636

Multi-robot cooperative navigation in real-world environments is essential in many applications, including surveillance and search-and-rescue missions. State-of-the-art methods for cooperative navigation are often tested in ideal laboratory conditions and not ready to be deployed in real-world environments, which are often cluttered with static and dynamic obstacles. In this work, we explore a graph-based framework to achieve control of real robot formations moving in a world cluttered with a variety of obstacles by introducing a new distributed algorithm for reconfiguring the formation shape. We systematically validate the reconfiguration algorithm using three real robots in scenarios of increasing complexity.

关键词： Navigation Robot kinematics Collision avoidance Shape Robot sensing systems Laplace equations

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Distributed Deconfliction Algorithm for Unmanned Aerial Vehicles with Limited Range and Field of View Sensors

Distributed Deconfliction Algorithm for Unmanned Aerial Vehi...

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American Control Conference

作者： Steven Roelofsen Alcherio Martinoli Denis Gillet Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering Ecole Polytechnique Federale de Lausanne Coordination and Interaction System Group School of Engineering Ecole Polytechnique Federale de Lausanne

ISBN: (纸本)9781479917730

This paper proposes a novel approach for collision avoidance between Unmanned Aerial Vehicles (UAVs) with limited range and field of view sensors. The algorithm is designed for unicycle vehicles that need to fly above a specific minimal speed to maintain flight. It uses a navigation function approach when the UAV is clear from conflict and smoothly switches to a collision avoidance maneuver when other UAVs are encountered. We show that the proposed avoidance algorithm can ensure a collision-free path. We also carry out a throughout quantitative analysis of the algorithm singularities and propose heuristic recipes for avoiding deadlock situations. Simulations are performed to show the effectiveness of the algorithm.

关键词： Collision avoidance Sensors Aircraft Turning Aircraft navigation Mathematical model

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