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Reactive Collision Avoidance control for Nonholonomic Vehicles and Obstacles of Arbitrary Shape

ASME Letters in Dynamic Systems and control 2024年第3期4卷 031005页

作者： Rodrıǵuez-Seda, Erick J. Department of Weapons Robotics and Control Engineering United States Naval Academy AnnapolisMD21402 United States

Potential field-based collision avoidance algorithms for mobile robots frequently assume vehicles and obstacles to have circular or spherical shapes. This assumption not only simplifies the analysis but also limits the mobility of agents in confined spaces, particularly for vehicles with elongated or irregular shapes. To increase mobility, this letter presents a decentralized collision avoidance framework for nonholonomic systems of unicycle type that considers the non-circular shape and relative orientation of vehicles and obstacles. The framework builds on the concepts of potential field and avoidance functions. However, it proposes using a non-constant minimum safe distance radius that changes based on the shape, relative position, and relative orientation of agents. The control framework is proven to guarantee collision avoidance at all times and is shown, via simulation, to increase the ability of agents to navigate through narrow spaces safely. © 2024 American Society of Mechanical Engineers (ASME). All rights reserved.

关键词： Decentralized control

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Task Load Based Persistent Coverage control for Large-Scale Domains Using Multi-Agent Systems with Anisotropic Sensors

Task Load Based Persistent Coverage Control for Large-Scale ...

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2025 IEEE SoutheastCon, SoutheastCon 2025

作者： Odoy, Kyle Rodríguez-Seda, Erick J. United States Naval Academy Department of Weapons Robotics and Control Engineering AnnapolisMD United States

ISBN: (纸本)9798331504847

Multi-agent coverage control refers to the task of coordinating autonomous robots to effectively survey and gather information across a task-domain. This paper introduces a novel approach that addresses agents equipped with anisotropic sensors and constrained by nonholonomic movement, aiming to ensure persistent coverage and maintain awareness over a large-scale domain. The approach employs redefined Voronoi partitions that leverage each agent's local coverage domain based on its relative task load. The task load herein refers to the level of awareness that each agent has about the domain and the size of its area of dominance, all indirectly encoded in the Voronoi's mass. To account for the vehicles' nonholonomic nature and velocity constraints, the proposed approach is extended using the minimum curvature-based distance when determining the agent's area of dominance. A set of simulations involving teams of three and five agents showcases the effectiveness of the proposed control approach. © 2025 IEEE.

关键词： Cloud computing

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Decentralized Task Assignment for Networked Unmanned Aerial Vehicles

Decentralized Task Assignment for Networked Unmanned Aerial ...

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2025 IEEE SoutheastCon, SoutheastCon 2025

作者： Szarafinski, Hava Kiriakidis, Kiriakos U.S. Naval Academy Department of Weapons Robotics and Control Engineering AnnapolisMD United States

ISBN: (纸本)9798331504847

Competing with the technical advancements of near-peer adversaries, the Navy is shifting towards increased use of Unmanned Aerial Vehicles (UAVs) to accomplish missions. Formations of networked UAVs are susceptible to single-point failure when assigned tasks centrally, leading to the need for decentralization. This paper investigates the optimal allocation of tasks among networked UAVs by means of distributed algorithms to avoid the single-point vulnerability. Furthermore, it addresses the issue of incomplete information about assignment costs, the result of limited direct connections within the formation. The research synthesizes the Hungarian and consensus classes of algorithms to achieve decentralized task allocation subjected to unknown assignment costs and communications being restricted to immediate neighbors. Within the scope of this paper, the number of tasks and agents are equal and agents know their own costs. Assignment costs of other agent-task pairs are not globally known. The success of the proposed approach is established by demonstrating that the synthesized algorithm reaches the same task assignment compared to centralized optimization using the global cost matrix. © 2025 IEEE.

关键词： Drones

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TOWARD SUPPORT-FREE, ZERO-DEGREE OVERHANG ADDITIVE MANUFACTURING USING A WANDERING CENTER OF MOTION

TOWARD SUPPORT-FREE, ZERO-DEGREE OVERHANG ADDITIVE MANUFACTU...

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ASME 2024 International Mechanical engineering Congress and Exposition, IMECE 2024

作者： Todd, Brody A. DeVries, Levi D. Kutzer, Michael D.M. Department of Weapons Robotics & Control Engineering United States Naval Academy AnnapolisMD21402 United States

ISBN: (纸本)9780791888605

In recent years, additive manufacturing (AM) has revolutionized traditional manufacturing processes by enabling complex geometries to be printed with enhanced design flexibility and reduced lead *** additive manufacturing processes utilize a planar, layer-by-layer deposition of materials ranging from plastics and ceramics to various composites and *** these traditional AM methods enable manufacturers to create made-to-order, functional parts, complex geometrical designs with large overhanging features often require sacrificial support structures to maintain material strength and *** research aims to develop a method of AM that adheres to zero-overhang constraints and eliminates the support structure requirements for complex *** proposed method leverages existing research on spherical layering and introduces a novel approach to AM involving a "wandering" remote center of motion (RCM).Using a wandering (***) RCM, spherical layering techniques can be applied to more complex geometries, specifically geometries that are not within the set of'star-convex' *** paper introduces the wandering RCM method in 2D by developing an algorithm to define unique RCM positions for a given *** goal is to decompose non-star convex polygons into multiple partitions of star-convex shapes, enabling the complete fill of a polygon using a 2D realization of spherical *** work leverages an extension to Chvátal's Art Gallery Problem, using "guard" positions to define RCM positions within the part's polygonal *** from 2D analysis demonstrate the feasibility of filling non-convex polygonal regions under a zero-overhang approach. Copyright © 2024 by The United States Government.

关键词： Spheres

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Marine Surface Layer Optical Turbulence Measurements Over a Vertical Path with Mobile Aerial Platforms

Marine Surface Layer Optical Turbulence Measurements Over a ...

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2024 Applications of Lasers for Sensing and Free Space Communications, LS and C 2024

作者： Maa, Winston Avramov-Zamurovic, Svetlana Lee, Peter Solie, John Weapons Robotics and Control Engineering Department United States Naval Academy Hopper Hall 597 McNair Rd AnnapolisMD21402 United States

A mobile aerial platform is used in a laboratory environment at a distance of up to 4 meters to record the Gaussian laser light intensity fluctuations from a downlink and calculate scintillation index. © 2024 The...

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Task Load Based Persistent Coverage control for Large-Scale Domains Using Multi-Agent Systems with Anisotropic Sensors

Task Load Based Persistent Coverage Control for Large-Scale ...

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IEEE Southeastcon

作者： Kyle Odoy Erick J. Rodríguez-Seda Department of Weapons Robotics and Control Engineering United States Naval Academy Annapolis MD

ISBN: (数字)9798331504847

ISBN: (纸本)9798331504854

关键词： Surveys Anisotropic control systems Sensor systems Sensors Multi-agent systems Load modeling Autonomous robots

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Light Scattering Experiments and Simulations from Laser Beams with Orbital Angular Momentum

Light Scattering Experiments and Simulations from Laser Beam...

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2024 Applications of Lasers for Sensing and Free Space Communications, LS and C 2024

作者： Sivaprakasam, Vasanthi Hart, Matthew Divitt, Shawn Xavier, Marquise O’Malley, Owen Avramov, Svetlana U.S. Naval Research Laboratory 4555 Overlook Ave SW WashingtonDC20375 United States Weapons Robotics and Control Engineering Department United States Naval Academy United States

The angular elastic scattering signal intensity is simulated and measured from suspended single particles for varying order mode, orbital angular momentum laser beams. Comparison between simulation/experiment and to s... 详细信息

关键词： Laser beams

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Decentralized Task Assignment for Networked Unmanned Aerial Vehicles

Decentralized Task Assignment for Networked Unmanned Aerial ...

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IEEE Southeastcon

作者： Hava Szarafinski Kiriakos Kiriakidis Department of Weapons Robotics and Control Engineering U.S. Naval Academy Annapolis MD USA

ISBN: (数字)9798331504847

ISBN: (纸本)9798331504854

关键词： Costs Runtime Network topology Microcontrollers Autonomous aerial vehicles Robustness Topology Timing Resource management Optimization

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Probabilistic Object Tracking Using Quantified Camera Uncertainty Parameters in a Binocular System

Probabilistic Object Tracking Using Quantified Camera Uncert...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Christopher A. Civetta Donald H. Costello Michael D. M. Kutzer Department of Weapons Robotics and Control Engineering United States Naval Academy Annapolis MD USA

ISBN: (数字)9798350357882

ISBN: (纸本)9798350357899

As the Navy becomes increasingly autonomous and attempts to lower its radio frequency (RF) signature, the need for improved optically-driven systems increases. Research on a binocular camera system's ability to track an object in three-dimensional (3D) space using statistical uncertainty supports this effort. By leveraging ground truth data provided by USNA's Vision Integration In Polymanual and Experimental robotics (VIPER) lab, the binocular system's uncertainty parameters are experimentally estimated, and the overall uncertainty of the system's ability to track an object is approximated. Unlike traditional tracking methods, this process produces a probability “cloud” around the the object of interest, providing confidence intervals around the target of interest. This research supports sensor-based autonomy in two ways: (1) enabling tracking systems to use probabilistic information to establish confidence regions for risk assessment and decision making;; (2) provide tracking uncertainty in automated image labeling to improve the training efficacy of neural networks.

关键词： Training Radio frequency Uncertainty Target tracking Three-dimensional displays Robot vision systems Probabilistic logic

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Persistent Coverage control of Large-Scale Domains Using Multi-Agent Systems with Anisotropic Sensors

Persistent Coverage Control of Large-Scale Domains Using Mul...

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IEEE Southeastcon

作者： Timothy Leung Erick J. Rodríguez-Seda Department of Weapons Robotics and Control Engineering United States Naval Academy Annapolis MD USA

Multi-agent coverage control refers to the task of coordinating the position and motion of a group of mobile agents whose goal is to provide service or collect data from a given region. An ongoing research question within this topic is how to coordinate the motion and location of a team of non-zero-speed nonholonomic vehicles, such as fixed-wing aircraft, with anisotropic sensors of limited range. Motivated by this problem, this paper presents a control law that aims to provide persistent awareness over a bounded domain by a group of non-zero-speed nonholonomic vehicles. The control law explores the use of an awareness model and a novel curvature-based Voronoi partition to govern the distribution and motion of agents. Due to the nonholonomic nature of the vehicles and the use of anisotropic sensors, the proposed approach redefines the definition of distance in Voronoi cells using the minimum curvature of the vehicles. A simulation with a team of vehicles demonstrates the performance of the control approach.

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