Pub Date : 2022-03-01DOI: 10.1109/mra.2022.3144883
F. Park
{"title":"Greetings From the 2022 IEEE Robotics and Automation Society President [President's Message]","authors":"F. Park","doi":"10.1109/mra.2022.3144883","DOIUrl":"https://doi.org/10.1109/mra.2022.3144883","url":null,"abstract":"","PeriodicalId":13196,"journal":{"name":"IEEE Robotics Autom. Mag.","volume":"333 1","pages":"6-7"},"PeriodicalIF":0.0,"publicationDate":"2022-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76533603","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-03-01DOI: 10.1109/mra.2022.3143409
Vincent Mai, B. Vanderborght, T. Haidegger, A. Khamis, Niraj Bhargava, Dominik B. O. Boesl, K. Gabriels, A. Jacobs, AJung Moon, R. Murphy, Y. Nakauchi, E. Prestes, B. Rao R, R. Vinuesa, Carl-Maria Morch
{"title":"The Role of Robotics in Achieving the United Nations Sustainable Development Goals - The Experts' Meeting at the 2021 IEEE/RSJ IROS Workshop [Industry Activities]","authors":"Vincent Mai, B. Vanderborght, T. Haidegger, A. Khamis, Niraj Bhargava, Dominik B. O. Boesl, K. Gabriels, A. Jacobs, AJung Moon, R. Murphy, Y. Nakauchi, E. Prestes, B. Rao R, R. Vinuesa, Carl-Maria Morch","doi":"10.1109/mra.2022.3143409","DOIUrl":"https://doi.org/10.1109/mra.2022.3143409","url":null,"abstract":"","PeriodicalId":13196,"journal":{"name":"IEEE Robotics Autom. Mag.","volume":"171 1","pages":"92-107"},"PeriodicalIF":0.0,"publicationDate":"2022-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74874355","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-03-01DOI: 10.1109/mra.2022.3143186
E. Momi, M. Tavakoli, J. Delmerico, A. Frisoli, M. Minor, Giovanni Rossini, P. Chippendale
{"title":"Extended Reality in Robotics [From the Guest Editors]","authors":"E. Momi, M. Tavakoli, J. Delmerico, A. Frisoli, M. Minor, Giovanni Rossini, P. Chippendale","doi":"10.1109/mra.2022.3143186","DOIUrl":"https://doi.org/10.1109/mra.2022.3143186","url":null,"abstract":"","PeriodicalId":13196,"journal":{"name":"IEEE Robotics Autom. Mag.","volume":"29 1","pages":"8-9"},"PeriodicalIF":0.0,"publicationDate":"2022-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82606214","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-03-01DOI: 10.1109/mra.2022.3143966
Dejanira Araiza-Illan, Michael Fisher, Kevin J. Leahy, J. Olszewska, Signe A. Redfield
{"title":"Verification of Autonomous Systems [TC Spotlight]","authors":"Dejanira Araiza-Illan, Michael Fisher, Kevin J. Leahy, J. Olszewska, Signe A. Redfield","doi":"10.1109/mra.2022.3143966","DOIUrl":"https://doi.org/10.1109/mra.2022.3143966","url":null,"abstract":"","PeriodicalId":13196,"journal":{"name":"IEEE Robotics Autom. Mag.","volume":"106 1","pages":"99-101"},"PeriodicalIF":0.0,"publicationDate":"2022-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85550987","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-03-01DOI: 10.1109/mra.2022.3143185
Yi Guo
Two years into the pandemic, many places in the world experienced another wave of spiking COVID cases. People got used to remote shopping, working from home, and Zoom meetings more than ever. The world’s predictable unpredictability has become the new normal, and we are trying to live with a disease that has not yet settled into its endemic state.
{"title":"Reality Check [From the Editor's Desk]","authors":"Yi Guo","doi":"10.1109/mra.2022.3143185","DOIUrl":"https://doi.org/10.1109/mra.2022.3143185","url":null,"abstract":"Two years into the pandemic, many places in the world experienced another wave of spiking COVID cases. People got used to remote shopping, working from home, and Zoom meetings more than ever. The world’s predictable unpredictability has become the new normal, and we are trying to live with a disease that has not yet settled into its endemic state.","PeriodicalId":13196,"journal":{"name":"IEEE Robotics Autom. Mag.","volume":"14 1","pages":"4"},"PeriodicalIF":0.0,"publicationDate":"2022-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82594486","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-02-28DOI: 10.48550/arXiv.2203.00088
William D'Amico, M. Farina
In this paper we propose a novel methodology that allows to design, in a purely data-based fashion and for linear single-input and single-output systems, both robustly stable and performing control systems for tracking piecewise constant reference signals. The approach uses both (i) Virtual Reference Feedback Tuning for enforcing suitable performances and (ii) the Set Membership framework for providing a-priori robust stability guarantees. Indeed, an uncertainty set for the system parameters is obtained through Set Membership identification, where an algorithm based on the scenario approach is proposed to estimate the inflation parameter in a probabilistic way. Based on this set, robust stability conditions are enforced as Linear Matrix Inequality constraints within an optimization problem whose linear cost function relies on Virtual Reference Feedback Tuning. To show the generality and effectiveness of our approach, we apply it to two of the most widely used yet simple control schemes, i.e., where tracking is achieved thanks to (i) a static feedforward action and (ii) an integrator in closed-loop. The proposed method is not fully direct due to the Set Membership identification. However, the uncertainty set is used with the only objective of providing robust stability guarantees for the closed-loop system and it is not directly used for the performances optimization, which instead is totally based on data. The effectiveness of the developed method is demonstrated with reference to two simulation examples. A comparison with other data-driven methods is also carried out.
{"title":"Virtual Reference Feedback Tuning for linear discrete-time systems with robust stability guarantees based on Set Membership","authors":"William D'Amico, M. Farina","doi":"10.48550/arXiv.2203.00088","DOIUrl":"https://doi.org/10.48550/arXiv.2203.00088","url":null,"abstract":"In this paper we propose a novel methodology that allows to design, in a purely data-based fashion and for linear single-input and single-output systems, both robustly stable and performing control systems for tracking piecewise constant reference signals. The approach uses both (i) Virtual Reference Feedback Tuning for enforcing suitable performances and (ii) the Set Membership framework for providing a-priori robust stability guarantees. Indeed, an uncertainty set for the system parameters is obtained through Set Membership identification, where an algorithm based on the scenario approach is proposed to estimate the inflation parameter in a probabilistic way. Based on this set, robust stability conditions are enforced as Linear Matrix Inequality constraints within an optimization problem whose linear cost function relies on Virtual Reference Feedback Tuning. To show the generality and effectiveness of our approach, we apply it to two of the most widely used yet simple control schemes, i.e., where tracking is achieved thanks to (i) a static feedforward action and (ii) an integrator in closed-loop. The proposed method is not fully direct due to the Set Membership identification. However, the uncertainty set is used with the only objective of providing robust stability guarantees for the closed-loop system and it is not directly used for the performances optimization, which instead is totally based on data. The effectiveness of the developed method is demonstrated with reference to two simulation examples. A comparison with other data-driven methods is also carried out.","PeriodicalId":13196,"journal":{"name":"IEEE Robotics Autom. Mag.","volume":"30 1","pages":"111228"},"PeriodicalIF":0.0,"publicationDate":"2022-02-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91350654","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-02-07DOI: 10.1016/j.automatica.2021.109750
R. Aldana-López, R. Aragüés, C. Sagüés
{"title":"EDCHO: High order exact dynamic consensus","authors":"R. Aldana-López, R. Aragüés, C. Sagüés","doi":"10.1016/j.automatica.2021.109750","DOIUrl":"https://doi.org/10.1016/j.automatica.2021.109750","url":null,"abstract":"","PeriodicalId":13196,"journal":{"name":"IEEE Robotics Autom. Mag.","volume":"40 1","pages":"109750"},"PeriodicalIF":0.0,"publicationDate":"2022-02-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85906400","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-01-01DOI: 10.1016/j.automatica.2021.110070
L. Marconi
{"title":"Lectures in Feedback Design for Multivariable Systems, Isidori Alberto, in: Advanced Textbooks in Control and Signal Processing. Springer (2017)","authors":"L. Marconi","doi":"10.1016/j.automatica.2021.110070","DOIUrl":"https://doi.org/10.1016/j.automatica.2021.110070","url":null,"abstract":"","PeriodicalId":13196,"journal":{"name":"IEEE Robotics Autom. Mag.","volume":"91 1","pages":"110070"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84396912","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-12-31DOI: 10.1016/j.automatica.2020.109465
Jilie Zhang, Zhiyong Chen, Hongwei Zhang, Tao Feng
{"title":"Coupling effect and pole assignment in trajectory regulation of multi-agent systems","authors":"Jilie Zhang, Zhiyong Chen, Hongwei Zhang, Tao Feng","doi":"10.1016/j.automatica.2020.109465","DOIUrl":"https://doi.org/10.1016/j.automatica.2020.109465","url":null,"abstract":"","PeriodicalId":13196,"journal":{"name":"IEEE Robotics Autom. Mag.","volume":"163 1","pages":"109465"},"PeriodicalIF":0.0,"publicationDate":"2021-12-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83439922","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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