Automatic Configuration of Multi-Agent Model Predictive Controllers based on Semantic Graph World Models

We propose a shared semantic map architecture to construct and configure Model Predictive Controllers (MPC) dynamically, that solve navigation problems for multiple robotic agents sharing parts of the same environment. The navigation task is represented as a sequence of semantically labeled areas in the map, that must be traversed sequentially, i.e. a route. Each semantic label represents one or more constraints on the robots' motion behaviour in that area. The advantages of this approach are: (i) an MPC-based motion controller in each individual robot can be (re-)configured, at runtime, with the locally and temporally relevant parameters; (ii) the application can influence, also at runtime, the navigation behaviour of the robots, just by adapting the semantic labels; and (iii) the robots can reason about their need for coordination, through analyzing over which horizon in time and space their routes overlap. The paper provides simulations of various representative situations, showing that the approach of runtime configuration of the MPC drastically decreases computation time, while retaining task execution performance similar to an approach in which each robot always includes all other robots in its MPC computations

Towards a cloud‑based automated surveillance system using wireless technologies

Cloud Computing can bring multiple benefits for Smart Cities. It permits the easy creation of centralized knowledge bases, thus straightforwardly enabling that multiple embedded systems (such as sensor or control devices) can have a collaborative, shared intelligence. In addition to this, thanks to its vast computing power, complex tasks can be done over low-spec devices just by offloading computation to the cloud, with the additional advantage of saving energy. In this work, cloud’s capabilities are exploited to implement and test a cloud-based surveillance system. Using a shared, 3D symbolic world model, different devices have a complete knowledge of all the elements, people and intruders in a certain open area or inside a building. The implementation of a volumetric, 3D, object-oriented, cloud-based world model (including semantic information) is novel as far as we know. Very simple devices (orange Pi) can send RGBD streams (using kinect cameras) to the cloud, where all the processing is distributed and done thanks to its inherent scalability. A proof-of-concept experiment is done in this paper in a testing lab with multiple cameras connected to the cloud with 802.11ac wireless technology. Our results show that this kind of surveillance system is possible currently, and that trends indicate that it can be improved at a short term to produce high performance vigilance system using low-speed devices. In addition, this proof-of-concept claims that many interesting opportunities and challenges arise, for example, when mobile watch robots and fixed cameras would act as a team for carrying out complex collaborative surveillance strategies.Ministerio de Economía y Competitividad TEC2016-77785-PJunta de Andalucía P12-TIC-130

Integrating planning and execution for ROS enabled service robots using hierarchical action representations

Abstract-The aim of the RoboEarth project is to develop a globally accessible database, that enables service robots to share reusable information relevant to the execution of their daily tasks. Examples of this information are the hierarchical task descriptions, or action recipes, that represent typical household tasks as symbolic action sequences. By annotating these static action representations with hierarchical planner predicates, they can be interpreted by the Hierarchical Task Network planner SHOP2 to compose more flexible, optimized robot plans, based on the actual state of the environment and the available capabilities of the robot. To subsequently execute the composed plans in a typical household environment, the CRAM executive toolbox is adopted, allowing a tight integration between plan execution and run-time knowledge inference. This paper presents the integration of these two components into one cohesive planning and execution framework, tailored for the safe execution of abstract tasks in a challenging household environment. The resulting framework is implemented on the AMIGO service robot and a basic experiment is conducted to demonstrate the frameworks integral functionality

Linear Control of Time-Domain Constrained Systems

Abstract-Recent results on the control of linear systems subject to time-domain constraints could only handle the case of closed-loop poles that are situated on the real axis. As most closed-loop systems in practice contain also complex poles, there is a strong need for a general framework encompassing all cases. In this paper such a framework is presented based on sumsof-squares techniques and we show indeed that time-domain constraints on closed-loop signals of linear systems can be incorporated as linear matrix inequalities, even when complex conjugate poles are assigned. The effectiveness of this complete design method is evaluated by means of a simulation example

INTEGRATED DESIGN OF A LIGHTWEIGHT POSITIONING SYSTEM

Abstract In this paper a new approach to the design of positioning systems is introduced. The approach aims at the design of fast and accurate systems that are lightweight compared to classical designs. The new design reduces peak power requirements and thermal effects that deteriorate performance of the whole system

Integrated design of a lightweight positioning system Citation for published version (APA): INTEGRATED DESIGN OF A LIGHTWEIGHT POSITIONING SYSTEM

Abstract In this paper a new approach to the design of positioning systems is introduced. The approach aims at the design of fast and accurate systems that are lightweight compared to classical designs. The new design reduces peak power requirements and thermal effects that deteriorate performance of the whole system

A mock circulation model for cardiovascular device evaluation

The aim of this study was to develop an integrated mock circulation system that functions in a physiological manner for testing cardiovascular devices under well-controlled circumstances. In contrast to previously reported mock loops, the model includes a systemic, pulmonary, and coronary circulation, an elaborate heart contraction model, and a realistic heart rate control model. The behavior of the presented system was tested in response to changes in left ventricular contractile states, loading conditions, and heart rate. For validation purposes, generated hemodynamic parameters and responses were compared to literature. The model was implemented in a servo-motor driven mock loop, together with a relatively simple lead-lag controller. The pressure and flow signals measured closely mimicked human pressure under both physiological and pathological conditions. In addition, the system's response to changes in preload, afterload, and heart rate indicate a proper implementation of the incorporated feedback mechanisms (frequency and cardiac function control). Therefore, the presented mock circulation allows for generic in vitro testing of cardiovascular devices under well-controlled circumstance