12 research outputs found
Cooperative Curve Tracking in Two Dimensions Without Explicit Estimation of the Field Gradient
We design a control law for two agents to successfully track a level curve in
the plane without explicitly estimating the field gradient. The velocity of
each agent is decomposed along two mutually perpendicular directions, and
separate control laws are designed along each direction. We prove that the
formation center will converge to the neighborhood of the level curve with the
desired level value. The algorithm is tested on some test functions used in
optimization problems in the presence of noise. Our results indicate that in
spite of the control law being simple and gradient-free, we are able to
successfully track noisy planar level curves fast and with a high degree of
accuracy.Comment: 4th International Conference on Control, Decision, and Information
Technologies (CoDIT) 201
Bio-inspired cooperative exploration of noisy scalar fields
A fundamental problem in mobile robotics is the exploration of unknown fields that might be inaccessible or hostile to humans. Exploration missions of great importance include geological survey, disaster prediction and recovery, and search and rescue. For missions in relatively large regions, mobile sensor networks (MSN) are ideal candidates. The basic idea of MSN is that mobile robots form a sensor network that collects information, meanwhile, the behaviors of the mobile robots adapt to changes in the environment. To design feasible motion patterns and control of MSN, we draw inspiration from biology, where animal groups demonstrate amazingly complex but adaptive collective behaviors to changing environments.
The main contributions of this thesis include platform independent mathematical models for the coupled motion-sensing dynamics of MSN and biologically-inspired provably convergent cooperative control and filtering algorithms for MSN exploring unknown scalar fields in both 2D and 3D spaces. We introduce a novel model of behaviors of mobile agents that leads to fundamental theoretical results for evaluating the feasibility and difficulty of exploring a field using MSN. Under this framework, we propose and implement source seeking algorithms using MSN inspired by behaviors of fish schools. To balance the cost and performance in exploration tasks, a switching strategy, which allows the mobile sensing agents to switch between individual and cooperative exploration, is developed. Compared to fixed strategies, the switching strategy brings in more flexibility in engineering design. To reveal the geometry of 3D spaces, we propose a control and sensing co-design for MSN to detect and track a line of curvature on a desired level surface.Ph.D
Curvature Based Cooperative Exploration of Three Dimensional Scalar Fields
We develop strategies for controlled motion and
filtering performed by a mobile sensor network to cooperatively
explore an unknown 3D scalar field. In order to estimate the
principal directions and principal curvatures of a desired level
surface of the field which are used as feedback by the motion
control law, we apply a non-analytic curvature estimation
algorithm and prove the sufficient and necessary conditions
under which this algorithm can provide reliable estimates.
A differential geometric approach is followed in developing
provably convergent steering control laws to control the center
of the sensor platform formation to track one of the lines of
curvature on a detected level surface of the scalar field
Cooperative Filtering and Parameter Identification for Advection-Diffusion Processes Using a Mobile Sensor Network
This article presents an online parameter identification scheme for advection-diffusion processes using data collected by a mobile sensor network. The advection-diffusion equation is incorporated into the information dynamics associated with the trajectories of the mobile sensors. A constrained cooperative Kalman filter is developed to provide estimates of the field values and gradients along the trajectories of the mobile sensors so that the temporal variations in the field values can be estimated. This leads to a co-design scheme for state estimation and parameter identification for advection-diffusion processes that is different from comparable schemes using sensors installed at fixed spatial locations. Using state estimates from the constrained cooperative Kalman filter, a recursive least-square (RLS) algorithm is designed to estimate unknown model parameters of the advection-diffusion processes. Theoretical justifications are provided for the convergence of the proposed cooperative Kalman filter by deriving a set of sufficient conditions regarding the formation shape and the motion of the mobile sensor network. Simulation and experimental results show satisfactory performance and demonstrate the robustness of the algorithm under realistic uncertainties and disturbances
Experimental validation of source seeking with a switching strategy
We design a switching strategy for a group of
robots to search for a local minimum of an unknown noisy
scalar field. Starting with individual exploration, the robots
switch to cooperative exploration only when they are not able
to locate the field minimum based on the information collected
individually. In order to test and demonstrate the switching
strategy in real-world environment, we implement the switching
strategy on a multi-robot test-bed. The behaviors of a group of
robots are compared when different parameters for exploration
are adopted. Especially, we observe the effect of memory lengths
on the switching behaviors as predicted by theoretical results.
The experimental results also justify the effects of different
formation sizes and noise attenuation levels on the performance
of the cooperative H∞ filter that are utilized in the cooperative
exploration phase
Adequate Testing Unmanned Autonomous Vehicle Systems - Infrastructures, Approaches, Issues, Challenges, and Needs
International audienc
Bio-inspired Source Seeking with no Explicit Gradient Estimation
Copyright©2012 IFACPresented at the 3rd IFAC Workshop on Distributed Estimation and Control in Networked Systems (NecSys'12), 14-15 September 2012, Santa Barbara, California.Inspired by behaviors of fish groups seeking darker (shaded) regions in environments with complex lighting variations, we develop distributed source-seeking algorithms for a group of
sensing agents with no explicit gradient estimation. We choose a baseline for agent groups and decompose the velocity of each agent into two parts. The first part, which is perpendicular to
the baseline, is chosen to be proportional to the measurements, agreeing with observations from fish groups. The second part, which is parallel to the baseline, can be designed to control the relative distances among the agents. This decomposition is leveraged to implement formation-
maintaining strategies and source seeking behaviors for the entire group. We prove that the moving direction of a group will converge towards the gradient direction while the formation is maintained