MPPI-IPDDP: Hybrid Method of Collision-Free Smooth Trajectory Generation for Autonomous Robots

This study presents a hybrid trajectory optimization method that generates a collision-free smooth trajectory for autonomous mobile robots. The hybrid method combines sampling-based model predictive path integral (MPPI) control and gradient-based interior-point differential dynamic programming (IPDDP) exploiting their advantages of exploration and smoothing. The proposed method, called MPPI-IPDDP, consists of three steps. The first step generates a coarse trajectory by MPPI control, the second step constructs a collision-free convex corridor, and the third step smooths the coarse trajectory by IPDDP using the collision-free convex corridor computed in the second step. For demonstration, the proposed algorithm was applied to trajectory optimization for differential-driving wheeled mobile robots and point-mass quadrotors. A supplementary video of the simulations can be found at https://youtu.be/-oUAt5sd9Bk

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

Multi-Robot Relative Pose Estimation in SE(2) with Observability Analysis: A Comparison of Extended Kalman Filtering and Robust Pose Graph Optimization

In this study, we address multi-robot localization issues, with a specific focus on cooperative localization and observability analysis of relative pose estimation. Cooperative localization involves enhancing each robot's information through a communication network and message passing. If odometry data from a target robot can be transmitted to the ego robot, observability of their relative pose estimation can be achieved through range-only or bearing-only measurements, provided both robots have non-zero linear velocities. In cases where odometry data from a target robot are not directly transmitted but estimated by the ego robot, both range and bearing measurements are necessary to ensure observability of relative pose estimation. For ROS/Gazebo simulations, we explore four sensing and communication structures. We compare extended Kalman filtering (EKF) and pose graph optimization (PGO) estimation using different robust loss functions (filtering and smoothing with varying batch sizes of sliding windows) in terms of estimation accuracy. In hardware experiments, two Turtlebot3 equipped with UWB modules are used for real-world inter-robot relative pose estimation, applying both EKF and PGO and comparing their performance.Comment: 20 pages, 21 figure

Photonic Hydrogel Sensors

Analyte-sensitive hydrogels that incorporate optical structures have emerged as sensing platforms for point-of-care diagnostics. The optical properties of the hydrogel sensors can be rationally designed and fabricated through self-assembly, microfabrication or laser writing. The advantages of photonic hydrogel sensors over conventional assay formats include label-free, quantitative, reusable, and continuous measurement capability that can be integrated with equipment-free text or image display. This Review explains the operation principles of photonic hydrogel sensors, presents syntheses of stimuli-responsive polymers, and provides an overview of qualitative and quantitative readout technologies. Applications in clinical samples are discussed, and potential future directions are identified