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2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023

作者： Renz, Heiko Krämer, Maximilian Bertram, Torsten Tu Dortmund University Institute of Control Theory and Systems Engineering Dortmund Germany

ISBN: (纸本)9798350325706

Shared workspaces between humans and robots are a significant part of Industry 4.0. Modern planning algorithms aim to increase human safety in collaborative scenarios and dynamic environments by considering motion forecasts of obstacles. While highly accurate approaches exist, the question arises whether their often greater complexity justifies the benefits that motion planners can draw from them. The paper at hand compares two motion forecasters and evaluates their effectiveness in a robot motion planner to generate collision-free trajectories online. One motion forecaster uses neural networks for predicting, while the other estimates and extrapolates the state of a customized human skeleton. The evaluation shows that simple and online capable motion extrapolations constitute towards human safety in varying situations more than highly accurate neural network predictions. © 2023 IEEE.

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Uncertainty Estimation for Predictive Collision Avoidance in Human-Robot Collaboration

Uncertainty Estimation for Predictive Collision Avoidance in...

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2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023

作者： Renz, Heiko Krämer, Maximilian Bertram, Torsten Tu Dortmund University Institute of Control Theory and Systems Engineering Dortmund Germany

ISBN: (纸本)9798350325706

Predictive motion planning enables robots to consider workspace obstacles and proactively avoid them. Estimating future poses of various obstacles is complex and exhibits results with uncertainties. Especially in the case of human-robot collaboration, the forecast process has to deal with sudden motion changes and varying human intentions. This paper proposes an uncertainty estimation for human motion extrapolations in the joint space of a human skeleton. The approach utilizes Gaussian Mixture Models that allow an online determination of the accuracy of current extrapolations based on preceding extrapolation errors. Multiple human model representations enable consideration of estimated uncertainties and are presented along with evaluating the resulting robot trajectories. The results show that considering estimated uncertainties leads to a robot trajectory with increased distances between humans and robots and decreased danger index from the literature, which is desirable for collaborative scenarios. © 2023 IEEE.

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Clustering-Assisted Preselection Multiobjective Optimization for Equipment Portfolio 24

Clustering-Assisted Preselection Multiobjective Optimization...

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8th International Conference on control engineering and Artificial Intelligence, CCEAI 2024

作者： Wang, Ningning Liu, Tingrui Gao, Xiangzhou Song, Shenmin Center for Control Theory and Guidance Technology Harbin Institute of Technology China Beijing Institute of Astronautical Systems Engineering China

ISBN: (纸本)9798400707971

The optimization of equipment system combination is crucial for the pre-deployment decision-making of our military. In order to obtain advantageous equipment portfolio solutions, we establish a multi-layer network optimization model for equipment systems and introduce a novel multi-objective optimization algorithm for equipment portfolios in combat systems. Firstly, a multi-objective optimization model for equipment system combination recommendation is established, with the objective of optimizing combat network redundancy and vulnerability. Secondly, due to the complexity of the equipment system optimization model and the challenge of finding optimal equipment portfolios, we propose a clustering-assisted preselection multi-objective evolutionary algorithm called MECAP. This algorithm is designed to enhance the convergence of the population towards the optimal solution set. Additionally, the experimental results highlight the benefits of applying MECAP for offspring generation strategy after model sampling. © 2024 ACM.

关键词： Decision making

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Two-Stage Hierarchical Motion Planning with Basis-Splines in Highway Environments

Two-Stage Hierarchical Motion Planning with Basis-Splines in...

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18th IEEE International Conference on Advanced Motion control, AMC 2024

作者： Dorpmuller, Philip Bertram, Torsten Institute of Control Theory and Systems Engineering Tu Dortmund University Dortmund44227 Germany

ISBN: (纸本)9798350342819

Road environments can include several local optimal solutions to be explored by a motion planning algorithm, which can be computationally complex. This work proposes a two-stage approach, where each stage solves the same basis-spline parameterized optimal control problem. In the first step, a solution is selected from a discrete set of trajectory candidates. In the second one, the trajectory is refined by a nonlinear optimization algorithm in the continuous solution space. The non-uniform basis-spline parameterization guarantees the trajectory's time-continuous feasibility. Final costs are introduced to ensure convergence towards a final manifold. The approach is evaluated in a highway scenario where other vehicles must be circumnavigated to reach a specified velocity and lane center. © 2024 IEEE.

关键词： Motion planning

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Steady State Behavior of the Free Recall Dynamics of Working Memory

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Journal of systems Science & Complexity 2024年第6期37卷 2424-2450页

作者： LI Tianhao LIU Zhixin LIU Lizheng HU Xiaoming Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of SciencesSchool of Mathematical SciencesUniversity of Chinese Academy of SciencesBeijing 100190China Academy for Engineering and Technology Fudan UniversityShanghai 200433China Optimization and Systems Theory KTH Royal Institute of TechnologyStockholm 10044Sweden

This paper studies a dynamical system that models the free recall dynamics of working *** model is an attractor neural network with n modules,named hypercolumns,and each module consists of m *** mild conditions on the connection weights between minicolumns,the authors investigate the long-term evolution behavior of the model,namely the existence and stability of equilibria and limit *** authors also give a critical value in which Hopf bifurcation ***,the authors give a sufficient condition under which this model has a globally asymptotically stable equilibrium consisting of synchronized minicolumn states in each hypercolumn,which implies that in this case recalling is *** simulations are provided to illustrate the proposed theoretical ***,a numerical example the authors give suggests that patterns can be stored in not only equilibria and limit cycles,but also strange attractors(or chaos).

关键词： Asymptotic stability bifurcation free recall strange attractor working memory

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Data-Driven control of Distributed Event-Triggered Network systems

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IEEE/CAA Journal of Automatica Sinica 2023年第2期10卷 351-364页

作者： Xin Wang Jian Sun Gang Wang Frank Allgower Jie Chen the National Key Laboratory of Autonomous Intelligent Unmanned Systems School of AutomationBeijing Institute of TechnologyBeijing 100081 the Beijing Institute of Technology Chongqing Innovation Center Chongqing 401120China IEEE the Institute for Systems Theory and Automatic Control University of StuttgartStuttgart 70550Germany the Department of Control Science and Engineering Tongji UniversityShanghai 201804 the National Key Laboratory of Autonomous Intelligent Unmanned Systems Beijing Institute of TechnologyBeijing 100081China

The present paper deals with data-driven event-triggered control of a class of unknown discrete-time interconnected systems(*** systems).To this end,we start by putting forth a novel distributed event-triggering transmission strategy based on periodic sampling,under which a model-based stability criterion for the closed-loop network system is derived,by leveraging a discrete-time looped-functional *** the model-based criterion with a data-driven system representation recently developed in the literature,a purely data-driven stability criterion expressed in the form of linear matrix inequalities(LMIs)is ***,the data-driven stability criterion suggests a means for co-designing the event-triggering coefficient matrix and the feedback control gain matrix using only some offline collected state-input ***,numerical results corroborate the efficacy of the proposed distributed data-driven event-triggered network system(ETS)in cutting off data transmissions and the co-design procedure.

关键词： Data-driven control distributed event-triggered network system(ETS) linear matrix inequalitie(LMI) looped-functional stability

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Cooperative control Concept for the Handwheel Actuator of a Steer-by-Wire System

Cooperative Control Concept for the Handwheel Actuator of a ...

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14th International Munich Chassis Symposium, IMCS 2023

作者： Gonschorek, Robert Bertram, Torsten ZF Automotive Germany GmbH Düsseldorf Germany Institute of Control Theory and Systems Engineering TU Dortmund Dortmund Germany

ISBN: (纸本)9783662703472

Upcoming vehicle generations will provide fault-tolerant onboard power supply systems and an increasing level of driving automation. These changes contribute to the applicability of Steer-by-Wire (SbW) systems and the development of automated lateral vehicle guidance control functions. For the market acceptance of automated driving the lateral vehicle guidance control function must be cooperative, that implies it must permit driver interventions. This contribution proposes a cooperative control concept for the Handwheel Actuator (HWA) of a SbW system, which enables a true coexistence between steering position and steering torque control. The controller performs precise tracking of the reference steering position provided by a lateral vehicle guidance controller. In the event of a driver intervention, the driver can override the active control and experiences a natural steering feel. In contrast to existing approaches, the transitions hereby are seamless as no gain scheduling, switching or controller output saturation are required. Moreover, a consistent control performance is ensured. After the derivation of a mathematical system model, identification, and model evaluation, the cooperative control concept is systematically designed. Besides a frequency domain analysis of the nominal control performance and stability, real vehicle tests are conducted to verify simulation results and get a representative view of the controller performance. © The Author(s), under exclusive license to Springer-Verlag GmbH, DE, part of Springer Nature 2025.

关键词： Frequency domain analysis

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Adaptive Sampling Offspring Generation Strategy for Multi-objective Optimization 8

Adaptive Sampling Offspring Generation Strategy for Multi-ob...

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2024 8th International Conference on Machine Vision and Information Technology, CMVIT 2024

作者： Wang, Ningning Fan, Jun Liu, Tingrui Kang, Honglong Zhang, Wenbo Song, Shenmin Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin China Army Aviation Institute Beijing China Beijing Institute of Astronautical Systems Engineering Beijing China

A covariance adaptive sampling offspring generation strategy (CASS) based on fuzzy clustering is proposed, and a multi-objective distribution estimation algorithm (MEDCA) based on this strategy is introduced. The GK-FCM clustering partitioning strategy is designed to build a Gaussian model for each individual, collectively approximating the manifold of the Pareto solution set and generating offspring through sampling. The introduction of an individual's survival generation adapts the individual's preference for exploration and exploitation. This is achieved by incorporating it as a scaling factor of the covariance matrix in the sampling model, in order to satisfy the individual's preferences for development and exploration in different evolutionary stages. This method significantly improves the performance of MEDCA in solving complex multi-objective optimization problems through covariance matrix adaptation sampling strategy and scaling factor adaptation strategy. The experimental results demonstrate the advantages of MEDCA in the application of offspring generation strategies during model sampling. © Published under licence by IOP Publishing Ltd.

关键词： Covariance matrix

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Current Status and Analyses of the SPLICE Hazard Detection Software

Current Status and Analyses of the SPLICE Hazard Detection S...

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AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Liu, John Y. Chen, Po-Ting Aldrich, Jack D. Bocchino, Robert L. Vaughan, Geoffrey Jet Propulsion Laboratory California Institute of Technology Payload/Instrument Pointing Control Systems Engineering Guidance and Control Section 4800 Oak Grove Drive PasadenaCA91109 United States Jet Propulsion Laboratory California Institute of Technology Guidance and Control Section 4800 Oak Grove Drive PasadenaCA91109 United States Jet Propulsion Laboratory California Institute of Technology Flight Software and Avionics Systems Section 4800 Oak Grove Drive PasadenaCA91109 United States

This paper provides a status report of the current development and analysis efforts for the hazard detection (HD) software for the Safe and Precise Landing-Integrated Capabilities Evolution (SPLICE) project. © 20... 详细信息

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

关键词： Hazards

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Path-Complete Barrier Functions for Safety of Switched Linear systems 63

Path-Complete Barrier Functions for Safety of Switched Linea...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Anand, Mahathi Jungers, Raphael Zamani, Majid Allgower, Frank Institute for Systems Theory and Automatic Control University of Stuttgart Germany Université Catholique de Louvain Department of Mathematical Engineering Belgium University of Colorado Boulder United States

ISBN: (纸本)9798350316339

In this paper, we address the safety verification problem of switched linear dynamical systems under arbitrary switching via barrier functions. Our approach is based on a notion of path-complete barrier functions, which utilizes a collection of barrier functions associated with a directed labeled graph that can encode all the possible switching sequences. We show that path-complete barrier functions effectively generalize notions of common and multiple barrier functions studied in existing literature, and can potentially provide less conservative conditions for safety verification. We demonstrate that, for switched linear systems, the inequalities imposed via path-complete barrier functions can be easily encoded into simple linear matrix inequalities under some assumptions on the regions of interest and appropriately chosen templates for the barrier functions. We also study the relationship between path-complete barrier functions and common barrier functions, and show that for any path-complete graph with an admissible path-complete barrier function, one can derive a suitable (possibly non-smooth) common barrier function by utilizing the path-complete barrier function. Finally, we utilize several examples to illustrate the effectiveness of our approach, and briefly discuss the challenges that lay foundations for future research. © 2024 IEEE.

关键词： Directed graphs

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