562 research outputs found
Co-Design of Autonomous Systems: From Hardware Selection to Control Synthesis
Designing cyber-physical systems is a complex task which requires insights at
multiple abstraction levels. The choices of single components are deeply
interconnected and need to be jointly studied. In this work, we consider the
problem of co-designing the control algorithm as well as the platform around
it. In particular, we leverage a monotone theory of co-design to formalize
variations of the LQG control problem as monotone feasibility relations. We
then show how this enables the embedding of control co-design problems in the
higher level co-design problem of a robotic platform. We illustrate the
properties of our formalization by analyzing the co-design of an autonomous
drone performing search-and-rescue tasks and show how, given a set of desired
robot behaviors, we can compute Pareto efficient design solutions.Comment: 8 pages, 6 figures, to appear in the proceedings of the 20th European
Control Conference (ECC21
NASA space station automation: AI-based technology review. Executive summary
Research and Development projects in automation technology for the Space Station are described. Artificial Intelligence (AI) based technologies are planned to enhance crew safety through reduced need for EVA, increase crew productivity through the reduction of routine operations, increase space station autonomy, and augment space station capability through the use of teleoperation and robotics
Task-driven Modular Co-design of Vehicle Control Systems
When designing autonomous systems, we need to consider multiple trade-offs at
various abstraction levels, and the choices of single (hardware and software)
components need to be studied jointly. In this work we consider the problem of
designing the control algorithm as well as the platform on which it is
executed. In particular, we focus on vehicle control systems, and formalize
state-of-the-art control schemes as monotone feasibility relations. We then
show how, leveraging a monotone theory of co-design, we can study the embedding
of control synthesis problems into the task-driven co-design problem of a
robotic platform. The properties of the proposed approach are illustrated by
considering urban driving scenarios. We show how, given a particular task, we
can efficiently compute Pareto optimal design solutions.Comment: 8 pages, 7 figures. Proceedings of the 2022 IEEE 61th Conference on
Decision and Contro
NASA space station automation: AI-based technology review
Research and Development projects in automation for the Space Station are discussed. Artificial Intelligence (AI) based automation technologies are planned to enhance crew safety through reduced need for EVA, increase crew productivity through the reduction of routine operations, increase space station autonomy, and augment space station capability through the use of teleoperation and robotics. AI technology will also be developed for the servicing of satellites at the Space Station, system monitoring and diagnosis, space manufacturing, and the assembly of large space structures
Exploring Natural User Abstractions For Shared Perceptual Manipulator Task Modeling & Recovery
State-of-the-art domestic robot assistants are essentially autonomous mobile manipulators capable of exerting human-scale precision grasps. To maximize utility and economy, non-technical end-users would need to be nearly as efficient as trained roboticists in control and collaboration of manipulation task behaviors. However, it remains a significant challenge given that many WIMP-style tools require superficial proficiency in robotics, 3D graphics, and computer science for rapid task modeling and recovery. But research on robot-centric collaboration has garnered momentum in recent years; robots are now planning in partially observable environments that maintain geometries and semantic maps, presenting opportunities for non-experts to cooperatively control task behavior with autonomous-planning agents exploiting the knowledge. However, as autonomous systems are not immune to errors under perceptual difficulty, a human-in-the-loop is needed to bias autonomous-planning towards recovery conditions that resume the task and avoid similar errors. In this work, we explore interactive techniques allowing non-technical users to model task behaviors and perceive cooperatively with a service robot under robot-centric collaboration. We evaluate stylus and touch modalities that users can intuitively and effectively convey natural abstractions of high-level tasks, semantic revisions, and geometries about the world. Experiments are conducted with \u27pick-and-place\u27 tasks in an ideal \u27Blocks World\u27 environment using a Kinova JACO six degree-of-freedom manipulator. Possibilities for the architecture and interface are demonstrated with the following features; (1) Semantic \u27Object\u27 and \u27Location\u27 grounding that describe function and ambiguous geometries (2) Task specification with an unordered list of goal predicates, and (3) Guiding task recovery with implied scene geometries and trajectory via symmetry cues and configuration space abstraction. Empirical results from four user studies show our interface was much preferred than the control condition, demonstrating high learnability and ease-of-use that enable our non-technical participants to model complex tasks, provide effective recovery assistance, and teleoperative control
A Mathematical Characterization of Minimally Sufficient Robot Brains
This paper addresses the lower limits of encoding and processing the
information acquired through interactions between an internal system (robot
algorithms or software) and an external system (robot body and its environment)
in terms of action and observation histories. Both are modeled as transition
systems. We want to know the weakest internal system that is sufficient for
achieving passive (filtering) and active (planning) tasks. We introduce the
notion of an information transition system for the internal system which is a
transition system over a space of information states that reflect a robot's or
other observer's perspective based on limited sensing, memory, computation, and
actuation. An information transition system is viewed as a filter and a policy
or plan is viewed as a function that labels the states of this information
transition system. Regardless of whether internal systems are obtained by
learning algorithms, planning algorithms, or human insight, we want to know the
limits of feasibility for given robot hardware and tasks. We establish, in a
general setting, that minimal information transition systems exist up to
reasonable equivalence assumptions, and are unique under some general
conditions. We then apply the theory to generate new insights into several
problems, including optimal sensor fusion/filtering, solving basic planning
tasks, and finding minimal representations for modeling a system given
input-output relations.Comment: arXiv admin note: text overlap with arXiv:2212.0052
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