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Autonomous driving manoeuvres in urban road traffic environment: a study on roundabouts

IFAC Proceedings Volumes 2011年第1期44卷 13795-13800页

作者： Joshué Pérez Vicente Milanés Teresa de Pedro Ljubo Vlacic AUTOPIA program Centre for Automation and Robotics (CAR) University Polytechnic of Madrid (UPM) – Spanish National Research Council (CSIC) Madrid Spain Intelligent Control Systems Laboratory Griffith University Brisbane Australia

Abstract The highway and urban traffic safety has significantly been improved thanks to advanced development of intelligent Transportation systems technologies. However, some driving aspects have remained outside of this evolution or they are still in the development stage. Autonomous vehicle performance on roundabouts is one of these. In this paper, a simple and practical approach for the driverless control on roundabouts is described. Firstly, a description of a path planning is explained. Finally, a new concept for lateral control on roundabouts is introduced, taking into account entrances, exits and lane changes inside the roundabouts. The experiments have been tested in a 3D simulator that emulates the behaviour of driverless vehicle from the real world, – Cybercars. The results are promising, and leave the door open for future implementation in real vehicles.

关键词： Lane keeping autonomous vehicles roundabouts digital map intelligent Transportation systems (ITS)

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New simplified model for an under-actuated quadruped robot in bounding motion

New simplified model for an under-actuated quadruped robot i...

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International Conference on control, Instrumentation, and Automation

作者： Hamed Kazemi Vahid Johari Majd Majid M. Moghaddam Intelligent Control Systems Laboratory School of Electrical and Computer Engineering Tarbiat Moalem University Tehran Iran Intelligent Control Systems Laboratory Tarbiat Modares University Tehran Iran Robotics and Mechatronics Laboratory Mechanical Engineering Department Tarbiat Moalem University Tehran Iran Mechanical Engineering Department Tarbiat Modares University Tehran Iran

In this paper, a quadruped robot is studied in bounding motion. A new simplified model of quadruped robot in bounding motion with four actuated and two unactuated joints is developed. The kinetic and potential energies of the under-actuated mechanical model of the quadruped robot are obtained and the dynamics of the robot model is derived using the Lagrangian method. It is shown that the dynamical equation of the proposed simplified model belongs to a class of second-order nonholonomic mechanical systems. The main motivation of this paper is to obtain quadruped model in bounding motion such that one can apply different control methods directly or after transformation in the obtained dynamic equations. Utilizing MATLAB, dynamics of the planar model has been simulated in backward and forward states. Physical parameters of the Little-Dog robot as an instance of the quadruped robot are considered in simulation The simulation is without control and therefore is unstable but it illustrates robot's manner in bounding motion before instability.

关键词： Mathematical model Legged locomotion Dynamics Equations Joints Robot kinematics

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MRI magnetic signature imaging, tracking and navigation for targeted micro/nano-capsule therapeutics

MRI magnetic signature imaging, tracking and navigation for ...

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2011 IEEE/RSJ International Conference on intelligent Robots and systems

作者： David Folio Christian Dahmen Tim Wortmann M. Arif Zeeshan Kaiyu Shou Salvador Pané Bradley J. Nelson Antoine Ferreira Sergej Fatikow Laboratoire PRISME ENSI de Bourges Bourges France Division Microrobotics and Control Engineering University of Oldenburg Oldenburg Germany Multi-Scale Robotics Laboratory Institute of Robotics and Intelligent Systems ETH Zurich Zurich Switzerland

The propulsion of nano-ferromagnetic objects by means of MRI gradients is a promising approach to enable new forms of therapy. In this work, necessary techniques are presented to make this approach work. This includes path planning algorithms working on MRI data, ferromagnetic artifact imaging and a tracking algorithm which delivers position feedback for the microdevice and a propulsion sequence to enable interleaved magnetic propulsion and imaging. Using a dedicated software environment integrating path-planning methods and real-time tracking, a clinical MRI system is adapted to provide this new functionality for potential controlled interventional targeted therapeutic applications. Through MRI-based sensing analysis, this paper aims to propose a framework to plan a robust pathway to enhance the navigation ability to reach deep locations in human body. The proposed approaches are validated with different experiments.

关键词： Magnetic resonance imaging Navigation Target tracking Uncertainty Planning Sensors

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Real-time co-operative decision making & control systems

Real-time co-operative decision making & control systems

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XXII International Symposium on Information, Communication and Automation Technologies, ICAT

作者： Ljubo B. Vlacic Daniel I. Thomas Joshué Pérez Intelligent Control Systems Laboratory (ICSL) Griffith University Brisbane Australia Technology One Limited Brisbane Australia Centre of Automation and Robotics University Polytechnic of Madrid Madrid Spain

Learning and adaptability (and thus the ability of being co-operative) are important features of decision & control systems. This paper investigates decision making and control concepts that enable human beings and artificial beings to interact and co-operate in real time in a dynamic and reliable way. It examines the aspects of being co-operative and substitutable in the context of: (i) co-operative driving by driverless vehicles; and (ii) computer game play scenarios for collaborative and social interactions.

关键词： Humans Games Decision making Collaboration Computers control systems Robots

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Modified Banker's algorithm for scheduling in multi-AGV systems

Modified Banker's algorithm for scheduling in multi-AGV syst...

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IEEE International Conference on Automation Science and Engineering (CASE)

作者： Luka Kalinovcic Tamara Petrovic Stjepan Bogdan Vedran Bobanac Laboratory for Robotics and Intelligent Control Systems Department of Control and Computer Engineering Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Laboratory for Renewable Energy Sources Department of Control and Computer Engineering Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

In today's highly complex multi-AGV systems key research objective is finding a scheduling and routing policy that avoids deadlock while assuring that vehicle utilization is as high as possible. It is well known that finding such an optimal policy is a NP-hard task in general case. Therefore, big part of the research is oriented towards finding various suboptimal policies that can be applied to real world plants. In this paper we propose modified Banker's algorithm for scheduling in multi-AGV systems. A predetermined mission's path is executed in a way that some non-safe states are allowed in order to achieve better utilization of vehicles. A graph-based method of polynomial complexity for verification of these states is given. Algorithm is tested on a layout of a real plant for packing and warehousing palettes. Results shown at the end of the paper demonstrate advantages of the proposed method compared with other methods based on Banker's algorithm.

关键词： Vehicles System recovery Layout Resource management Job shop scheduling Workstations

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Agent self-assessment: Determining policy quality without execution

Agent self-assessment: Determining policy quality without ex...

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IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning, (ADPRL)

作者： Alexander Hans Siegmund Duell Steffen Udluft Neuroinformatics and Cognitive Robotics Laboratory Ilmenau University of Technology Ilmenau Germany Machine Learning Group Berlin Institute of Technology Berlin Germany Intelligent Systems and Control Siemens AG Munich Germany

With the development of data-efficient reinforcement learning (RL) methods, a promising data-driven solution for optimal control of complex technical systems has become available. For the application of RL to a technical system, it is usually required to evaluate a policy before actually applying it to ensure it operates the system safely and within required performance bounds. In benchmark applications one can use the system dynamics directly to measure the policy quality. In real applications, however, this might be too expensive or even impossible. Being unable to evaluate the policy without using the actual system hinders the application of RL to autonomous controllers. As a first step toward agent self-assessment, we deal with discrete MDPs in this paper. We propose to use the value function along with its uncertainty to assess a policy's quality and show that, when dealing with an MDP estimated from observations, the value function itself can be misleading. We address this problem by determining the value function's uncertainty through uncertainty propagation and evaluate the approach using a number of benchmark applications.

关键词： Uncertainty Equations Markov processes Benchmark testing Approximation algorithms Machine learning Histograms

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Enhancing student learning: On-line interactive laboratory for modelling of real world control system applications

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IFAC Proceedings Volumes 2011年第1期44卷 7268-7273页

作者： Joshué Pérez Sebastián Dormido Ljubo Vlacic Centre of Automation and Robotics (CAR) University Polytechnic of Madrid (UPM) – Spanish National Research Council (CSIC) Madrid Spain Dep. Informática y Automática Escuela Técnica Superior de Ingeniería Informática Universidad Nacional de Educación a Distancia Madrid Spain Intelligent Control Systems Laboratory Griffith University Brisbane Australia

Abstract Teaching an introductory course on control systems to undergraduate students often seeks elaborations on real engineering world control system applications to assist students in grasping theoretical concepts. In this paper, the newly developed animated and interactive control systems tutorials are presented. The paper shows that this teaching approach helps students in bridging the gap between the classical control techniques and the real world applications. The course evaluations undertaken since the time of the inclusion of the animated tutorials into the teaching process clearly show the learning improvement gained, reflected in increased average scores, and reduced course fail grade.

关键词： Interactive control system tutorials Interactive teaching tools Animation Distance Education

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Ensembles of Neural Networks for Robust Reinforcement Learning

Ensembles of Neural Networks for Robust Reinforcement Learni...

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International Conference on Machine Learning and Applications (ICMLA)

作者： Alexander Hans Steffen Udluft Neuroinformatics and Cognitive Robotics Laboratory Ilmenau University of Technology Ilmenau Germany Intelligent Systems and Control Corporate Technology Siemens AG Germany

Reinforcement learning algorithms that employ neural networks as function approximators have proven to be powerful tools for solving optimal control problems. However, their training and the validation of final policies can be cumbersome as neural networks can suffer from problems like local minima or over fitting. When using iterative methods, such as neural fitted Q-iteration, the problem becomes even more pronounced since the network has to be trained multiple times and the training process in one iteration builds on the network trained in the previous iteration. Therefore errors can accumulate. In this paper we propose to use ensembles of networks to make the learning process more robust and produce near-optimal policies more reliably. We name various ways of combining single networks to an ensemble that results in a final ensemble policy and show the potential of the approach using a benchmark application. Our experiments indicate that majority voting is superior to Q-averaging and using heterogeneous ensembles (different network topologies) is advisable.

关键词： Training Function approximation Artificial neural networks Network topology Approximation algorithms Neurons

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Light-weight mobile robot for hydrodynamic treatment of concrete and metal surfaces

Light-weight mobile robot for hydrodynamic treatment of conc...

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International Conference on Applied robotics for the Power Industry (CARPI)

作者： Zdenko Kovacic Borislav Balac Stjepan Flegaric Kristijan Brkic Matko Orsag LARICS Laboratory for Robotics and Intelligent Control Systems Faculty of electrical Engineering and Computing University of Zagreb Zagreb Croatia Inteco d o o Zagreb Croatia

The paper presents a modular design of a lightweight mobile robot for hydrodynamic treatment of concrete and metal surfaces. The robot is composed of three fully separable modules: an under-carriage with two tracks, an electric cabinet containing power electronics, communication and control, and a robot arm with various water jet tools. Modularity and smaller robot weight allows easy transportation, operation in ordinary construction conditions and maneuvering in very confined spaces. The on-board PLC controls the following robot axes: two robot tracks, a beam, a rotor tool, lance swing and pitch angles, and tool-to-surface distance deviation. Ultrasound sensors mounted on the robot allow automatic adjustment of a tool towards a treated surface. Experimental results obtained in real exploitation conditions (during a bridge repair) have confirmed all advantages of the described robot design.

关键词： Power industry Service robots Conferences

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Editorial Special issue on approximate dynamic programming and reinforcement learning

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控制理论与应用（英文版） 2011年第3期 309-309页

作者： Silvia Ferrari Jagannathan Sarangapani Frank L. Lewis Laboratory for Intelligent Systems and Control(LISC)Department of Mechanical Engineering & Materials Science Box 90300 Duke University Durham NC 27708-0005 Department of Electrical & Computer Engineering University of Missouri-Rolla MO 65401 U.S.A. Automation and Robotics Research Institute The University of Texas at Arlington 7300 Jack Newell Blvd. S Ft. Worth Texas 76118-7115 U.S.A.

We are extremely pleased to present this special issue of the Journal of control Theory and *** dynamic programming (ADP) is a general and effective approach for solving optimal control and estimation problems by adapting to uncertain environments over *** optimizes the sensing objectives accrued over a future time interval with respect to an adaptive control law,conditioned on prior knowledge of the system,its state,and uncertainties.A numerical search over the present value of the control minimizes a Hamilton-Jacobi-Bellman (HJB) equation providing a basis for real-time,approximate optimal control.

关键词： reinforcement learning dynamic programming optimal control effective approach prior knowledge control Theory real-time control law problems special search future ADP basis

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