4,806 research outputs found
Computational intelligence approaches to robotics, automation, and control [Volume guest editors]
No abstract available
Autonomous Navigation for Mobile Robots in Crowded Environments
L'abstract è presente nell'allegato / the abstract is in the attachmen
Beyond Basins of Attraction: Quantifying Robustness of Natural Dynamics
Properly designing a system to exhibit favorable natural dynamics can greatly
simplify designing or learning the control policy. However, it is still unclear
what constitutes favorable natural dynamics and how to quantify its effect.
Most studies of simple walking and running models have focused on the basins of
attraction of passive limit-cycles and the notion of self-stability. We instead
emphasize the importance of stepping beyond basins of attraction. We show an
approach based on viability theory to quantify robust sets in state-action
space. These sets are valid for the family of all robust control policies,
which allows us to quantify the robustness inherent to the natural dynamics
before designing the control policy or specifying a control objective. We
illustrate our formulation using spring-mass models, simple low dimensional
models of running systems. We then show an example application by optimizing
robustness of a simulated planar monoped, using a gradient-free optimization
scheme. Both case studies result in a nonlinear effective stiffness providing
more robustness.Comment: 15 pages. This work has been accepted to IEEE Transactions on
Robotics (2019
Computational intelligence approaches to robotics, automation, and control [Volume guest editors]
No abstract available
Recent Advances in Path Integral Control for Trajectory Optimization: An Overview in Theoretical and Algorithmic Perspectives
This paper presents a tutorial overview of path integral (PI) control
approaches for stochastic optimal control and trajectory optimization. We
concisely summarize the theoretical development of path integral control to
compute a solution for stochastic optimal control and provide algorithmic
descriptions of the cross-entropy (CE) method, an open-loop controller using
the receding horizon scheme known as the model predictive path integral (MPPI),
and a parameterized state feedback controller based on the path integral
control theory. We discuss policy search methods based on path integral
control, efficient and stable sampling strategies, extensions to multi-agent
decision-making, and MPPI for the trajectory optimization on manifolds. For
tutorial demonstrations, some PI-based controllers are implemented in MATLAB
and ROS2/Gazebo simulations for trajectory optimization. The simulation
frameworks and source codes are publicly available at
https://github.com/INHA-Autonomous-Systems-Laboratory-ASL/An-Overview-on-Recent-Advances-in-Path-Integral-Control.Comment: 16 pages, 9 figure
A Convex Approach to Path Tracking with Obstacle Avoidance for Pseudo-Omnidirectional Vehicles
This report addresses the related problems of trajectory generation and time-optimal path tracking with online obstacle avoidance. We consider the class of four-wheeled vehicles with independent steering and driving on each wheel, also referred to as pseudo-omnidirectional vehicles. Appropriate approximations of the dynamic model enable a convex reformulation of the path-tracking problem. Using the precomputed trajectories together with model predictive control that utilizes feedback from the estimated global pose, provides robustness to model uncertainty and disturbances. The considered approach also incorporates avoidance of a priori unknown moving obstacles by local online replanning. We verify the approach by successful execution on a pseudo-omnidirectional mobile robot, and compare it to an existing algorithm. The result is a significant decrease in the time for completing the desired path. In addition, the method allows a smooth velocity trajectory while avoiding intermittent stops in the path execution
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