Pub Date : 2021-08-23DOI: 10.1109/CASE49439.2021.9551581
R. Corsini, Antonio Costa, S. Fichera
This paper deals with a comparison of production control policies in a two-product two-echelon supply chain dynamic problem with production capacity constraint. The factory related echelon consists of an unreliable manufacturing system that cannot produce both types of products simultaneously. Therefore, changeover operations are required to switch from one type of product to another. The decision on the product changeover depends on the production control policy. This research compares the well-known Hedging Corridor Policy, which has been previously adopted by the literature in a supply chain with production capacity constraints, and the Improved Modified Hedging Corridor Policy, which has been proved to minimize the total cost incurred in manufacturing companies characterized by unreliable production systems with constant demand rate. For comparison purposes, an experimental campaign was conducted through an analytical model based on discrete-time difference equations to investigate the Fill Rate of the multi-product supply chain as response variable. A proper ANDVA analysis and a set of interval plots revealed that the Hedging Corridor Policy outperforms the Improved Modified Hedging Corridor Policy in improving the Fill Rate Indicator.
{"title":"Comparing production control policies in two-product supply chain dynamics","authors":"R. Corsini, Antonio Costa, S. Fichera","doi":"10.1109/CASE49439.2021.9551581","DOIUrl":"https://doi.org/10.1109/CASE49439.2021.9551581","url":null,"abstract":"This paper deals with a comparison of production control policies in a two-product two-echelon supply chain dynamic problem with production capacity constraint. The factory related echelon consists of an unreliable manufacturing system that cannot produce both types of products simultaneously. Therefore, changeover operations are required to switch from one type of product to another. The decision on the product changeover depends on the production control policy. This research compares the well-known Hedging Corridor Policy, which has been previously adopted by the literature in a supply chain with production capacity constraints, and the Improved Modified Hedging Corridor Policy, which has been proved to minimize the total cost incurred in manufacturing companies characterized by unreliable production systems with constant demand rate. For comparison purposes, an experimental campaign was conducted through an analytical model based on discrete-time difference equations to investigate the Fill Rate of the multi-product supply chain as response variable. A proper ANDVA analysis and a set of interval plots revealed that the Hedging Corridor Policy outperforms the Improved Modified Hedging Corridor Policy in improving the Fill Rate Indicator.","PeriodicalId":232083,"journal":{"name":"2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121205154","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 : 2021-08-23DOI: 10.1109/CASE49439.2021.9551503
Luis Fernando Nazari, E. Camponogara
The impacts caused by floods years from years affect the planet's surface, therefore, grows the relevance for flood prevention studies. This field aims to reduce, or even avoid, consequences resulting from these natural events. This work seeks to contribute to the area by proposing a model predictive control of dam floodgates in a hydrographic basin. The control strategy is based on hydrological forecasting models obtained with system identification techniques. The developed methodology is applied to a real-world case, the Itajaí River Basin in Brazil, to assess its effectiveness and illustrate the results.
{"title":"Embedding Forecasting Models in Predictive Control to Minimize Flood Effects in a Real-World Hydrographic System","authors":"Luis Fernando Nazari, E. Camponogara","doi":"10.1109/CASE49439.2021.9551503","DOIUrl":"https://doi.org/10.1109/CASE49439.2021.9551503","url":null,"abstract":"The impacts caused by floods years from years affect the planet's surface, therefore, grows the relevance for flood prevention studies. This field aims to reduce, or even avoid, consequences resulting from these natural events. This work seeks to contribute to the area by proposing a model predictive control of dam floodgates in a hydrographic basin. The control strategy is based on hydrological forecasting models obtained with system identification techniques. The developed methodology is applied to a real-world case, the Itajaí River Basin in Brazil, to assess its effectiveness and illustrate the results.","PeriodicalId":232083,"journal":{"name":"2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126407953","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 : 2021-08-23DOI: 10.1109/CASE49439.2021.9551669
Antonios E. Gkikakis, D. Kanoulas, R. Featherstone
Highly-dynamic robotic systems, such as hopping robots, require light, computationally and energy efficient on-board units for control. This paper presents such a computational unit together with a software architecture for achieving high-performance behaviors, such as balancing and hopping. These demanding behaviors require accurate dynamic calculations, high-bandwidth control, and fast real-time state estimation. The proposed system consists of cheap and off-the-shelf electronics that are detailed in this paper. The effectiveness of the presented approach is validated on a balancing machine called Tippy, which is able to achieve fast tracking of command signals while balancing. The experimental results of this paper demonstrate that reliable real-time software for demanding high-performance robotic applications, which require fast control loops and intensive calculations, can be achieved with light, low cost and energy efficient components, which can empower the widespread use and experimentation of high-performance robots worldwide.
{"title":"Autonomous Real Time Architecture for High Performance Mobile Robots","authors":"Antonios E. Gkikakis, D. Kanoulas, R. Featherstone","doi":"10.1109/CASE49439.2021.9551669","DOIUrl":"https://doi.org/10.1109/CASE49439.2021.9551669","url":null,"abstract":"Highly-dynamic robotic systems, such as hopping robots, require light, computationally and energy efficient on-board units for control. This paper presents such a computational unit together with a software architecture for achieving high-performance behaviors, such as balancing and hopping. These demanding behaviors require accurate dynamic calculations, high-bandwidth control, and fast real-time state estimation. The proposed system consists of cheap and off-the-shelf electronics that are detailed in this paper. The effectiveness of the presented approach is validated on a balancing machine called Tippy, which is able to achieve fast tracking of command signals while balancing. The experimental results of this paper demonstrate that reliable real-time software for demanding high-performance robotic applications, which require fast control loops and intensive calculations, can be achieved with light, low cost and energy efficient components, which can empower the widespread use and experimentation of high-performance robots worldwide.","PeriodicalId":232083,"journal":{"name":"2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126477641","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 : 2021-08-23DOI: 10.1109/CASE49439.2021.9551547
Chih-Wei Chen, M. Chiang, Kuan-Yu Su, Yu-Wen Chen, Li-Chen Fu
In this paper, we discuss formation and maneuver control of multi-agent systems (MAS) in the three-dimensional space. The system is controlled in a distributed manner with connected communication links. Our considered agents are mainly focused on the micro unmanned aerial vehicle (UAV) and thus a second-order integrator model is adopted. The control target is to achieve desired formation and reference trajectory tracking. The agents only use information from their neighbors and keep the connectivity to maintain the communication while tracking the reference trajectory. Moreover, our approach allows the agents to form into the desired shape with a given order relation, due to the given formation formulation and the adaptive control structure. Several examples and software in the loop simulation are given to validate the proposed results.
{"title":"Distributed adaptive formation control of Multi-Agent Systems in three-dimensional space","authors":"Chih-Wei Chen, M. Chiang, Kuan-Yu Su, Yu-Wen Chen, Li-Chen Fu","doi":"10.1109/CASE49439.2021.9551547","DOIUrl":"https://doi.org/10.1109/CASE49439.2021.9551547","url":null,"abstract":"In this paper, we discuss formation and maneuver control of multi-agent systems (MAS) in the three-dimensional space. The system is controlled in a distributed manner with connected communication links. Our considered agents are mainly focused on the micro unmanned aerial vehicle (UAV) and thus a second-order integrator model is adopted. The control target is to achieve desired formation and reference trajectory tracking. The agents only use information from their neighbors and keep the connectivity to maintain the communication while tracking the reference trajectory. Moreover, our approach allows the agents to form into the desired shape with a given order relation, due to the given formation formulation and the adaptive control structure. Several examples and software in the loop simulation are given to validate the proposed results.","PeriodicalId":232083,"journal":{"name":"2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127848793","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 : 2021-08-23DOI: 10.1109/CASE49439.2021.9551397
A. Ebrahimi, K. Åkesson
A challenge for highly configurable products is that the manufacturing system has to support all possible variants that can be configured. The production system is often highly automated and the link between the product and the assembly system can be expressed through operations where each operation models how a part in the bill-of-material is assembled to the final product. Typically, operations have precedence constraints that express that certain parts have to be assembled before other parts. However, it is important to make sure that all possible variants can be successfully assembled while satisfying all precedence constraints. In this paper we present fully automated analysis method that is able to analyze the existence of product configurations of that cannot be successfully assembled.
{"title":"Modelling and analysis of product platforms and assembly sequences with respect to variability","authors":"A. Ebrahimi, K. Åkesson","doi":"10.1109/CASE49439.2021.9551397","DOIUrl":"https://doi.org/10.1109/CASE49439.2021.9551397","url":null,"abstract":"A challenge for highly configurable products is that the manufacturing system has to support all possible variants that can be configured. The production system is often highly automated and the link between the product and the assembly system can be expressed through operations where each operation models how a part in the bill-of-material is assembled to the final product. Typically, operations have precedence constraints that express that certain parts have to be assembled before other parts. However, it is important to make sure that all possible variants can be successfully assembled while satisfying all precedence constraints. In this paper we present fully automated analysis method that is able to analyze the existence of product configurations of that cannot be successfully assembled.","PeriodicalId":232083,"journal":{"name":"2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127779463","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 : 2021-08-23DOI: 10.1109/CASE49439.2021.9551632
Benjamin Lutz, Dominik Kißkalt, Daniel Regulin, Burak Aybar, Jörg K.H. Franke
Microscopy is commonly used in machining to study the effects of tool wear. In modern tool condition monitoring systems, the analytical capabilities are further enhanced by machine learning, allowing for automated segmentation of the various visible defects. The prevailing challenge, however, is the divergence among different use cases, as the visual properties of cutting tool images are influenced by many domain-specific factors such as the type of the cutting tool, the respective machining process, and the image acquisition unit. Thus, we propose the usage of automated domain adaptation so that existing training data from source domains can be used effectively to train segmentation models for novel target domains, while minimizing the need for newly labelled data. This is achieved through image-to-image translation using generative adversarial networks, which generate synthetic images with similar visual characteristics as the target domain based on existing masks of the source domains. Our validation shows that with as few as ten labelled images from the target domain, a sufficient prediction performance of 0.72 mIoU can be achieved when tested on unseen images from the target domain. This corresponds to a reduction of manual labelling efforts by two-thirds compared to conventional labelling and training methods. Thus, by adapting existing data, prediction performance is increased while expensive data generation is minimized.
{"title":"Automated Domain Adaptation in Tool Condition Monitoring using Generative Adversarial Networks","authors":"Benjamin Lutz, Dominik Kißkalt, Daniel Regulin, Burak Aybar, Jörg K.H. Franke","doi":"10.1109/CASE49439.2021.9551632","DOIUrl":"https://doi.org/10.1109/CASE49439.2021.9551632","url":null,"abstract":"Microscopy is commonly used in machining to study the effects of tool wear. In modern tool condition monitoring systems, the analytical capabilities are further enhanced by machine learning, allowing for automated segmentation of the various visible defects. The prevailing challenge, however, is the divergence among different use cases, as the visual properties of cutting tool images are influenced by many domain-specific factors such as the type of the cutting tool, the respective machining process, and the image acquisition unit. Thus, we propose the usage of automated domain adaptation so that existing training data from source domains can be used effectively to train segmentation models for novel target domains, while minimizing the need for newly labelled data. This is achieved through image-to-image translation using generative adversarial networks, which generate synthetic images with similar visual characteristics as the target domain based on existing masks of the source domains. Our validation shows that with as few as ten labelled images from the target domain, a sufficient prediction performance of 0.72 mIoU can be achieved when tested on unseen images from the target domain. This corresponds to a reduction of manual labelling efforts by two-thirds compared to conventional labelling and training methods. Thus, by adapting existing data, prediction performance is increased while expensive data generation is minimized.","PeriodicalId":232083,"journal":{"name":"2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127980749","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 : 2021-08-23DOI: 10.1109/CASE49439.2021.9551582
Ayan Dutta, Vladimir Ufimtsev, T. Said, Inmo Jang, R. Eggen
In this paper, we study the problem of allocating multiple heterogeneous robots to tasks. Due to the limited capabilities of the robots, a task might need more than one robot to complete it. The fundamental problem of optimally partitioning the set of n robots into m disjoint coalitions for allocating to m tasks is proven to be NP-hard. To solve this computationally intractable problem, we propose a distributed hedonic game formulation, where each robot decides to join or not join a team based on the other robots allocated to that particular task. It uses a bipartite matching technique to establish an initial set of coalitions before letting the robots coordinate asynchronously and change teams if desired. Our proposed solution is proved to converge to a Nash-stable solution. Results show that our proposed approach is fast and handles asynchronous robot-to-robot communication while earning more utility (up to 23%) than an existing technique in the majority of the test cases.
{"title":"Distributed Hedonic Coalition Formation for Multi-Robot Task Allocation","authors":"Ayan Dutta, Vladimir Ufimtsev, T. Said, Inmo Jang, R. Eggen","doi":"10.1109/CASE49439.2021.9551582","DOIUrl":"https://doi.org/10.1109/CASE49439.2021.9551582","url":null,"abstract":"In this paper, we study the problem of allocating multiple heterogeneous robots to tasks. Due to the limited capabilities of the robots, a task might need more than one robot to complete it. The fundamental problem of optimally partitioning the set of n robots into m disjoint coalitions for allocating to m tasks is proven to be NP-hard. To solve this computationally intractable problem, we propose a distributed hedonic game formulation, where each robot decides to join or not join a team based on the other robots allocated to that particular task. It uses a bipartite matching technique to establish an initial set of coalitions before letting the robots coordinate asynchronously and change teams if desired. Our proposed solution is proved to converge to a Nash-stable solution. Results show that our proposed approach is fast and handles asynchronous robot-to-robot communication while earning more utility (up to 23%) than an existing technique in the majority of the test cases.","PeriodicalId":232083,"journal":{"name":"2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127653150","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 : 2021-08-23DOI: 10.1109/CASE49439.2021.9551557
V. K. Sivakumar, P. Sujit
In this paper, we propose a multi-UAV path planning strategy for fixed wing UAVs to provide convoy protection to a ground vehicle moving over a hilly terrain. As the ground target motion is in 3D, we have developed a Model-Predictive control based framework for tracking the convoy taking the terrain restriction, kinematic constraints of the UAV and the camera field-of-view into account. Due to these constraints, it may not be possible for a single UAV to track the convoy continuously and hence we develop a cooperative multi-UAV framework with two UAVs to ensure continuous tracking. The simulation results show that the proposed framework adequately tracks the target without losing the line-of-sight of the convoy.
{"title":"MPC-based Multi-UAV Path Planning for Convoy Protection in 3D","authors":"V. K. Sivakumar, P. Sujit","doi":"10.1109/CASE49439.2021.9551557","DOIUrl":"https://doi.org/10.1109/CASE49439.2021.9551557","url":null,"abstract":"In this paper, we propose a multi-UAV path planning strategy for fixed wing UAVs to provide convoy protection to a ground vehicle moving over a hilly terrain. As the ground target motion is in 3D, we have developed a Model-Predictive control based framework for tracking the convoy taking the terrain restriction, kinematic constraints of the UAV and the camera field-of-view into account. Due to these constraints, it may not be possible for a single UAV to track the convoy continuously and hence we develop a cooperative multi-UAV framework with two UAVs to ensure continuous tracking. The simulation results show that the proposed framework adequately tracks the target without losing the line-of-sight of the convoy.","PeriodicalId":232083,"journal":{"name":"2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)","volume":"40 9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129153790","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}
Estimation of transmission line parameters is an important problem for state estimation of power grid. In recent years, some studies have shown that the transmission line parameters can be estimated by some specific measurement data of the power grid. However, most of the studies mainly focus on single type of measurement data. In this paper, we propose an estimation method of transmission line parameters based on multi-measurement data of power grid, including measurements of injection power and voltage phasor. And considering the different reliability of the measurements, we make different restrictions on the multi-measurements. In our method, parameters and connection topology of transmission lines are estimated separately, and an ALS optimization model is established to solve the problem. Compared to the previous methods, the objective functions and constraints of our optimization model are improved, with considering different constraints based on phasor measurements, to get better estimation accuracy. The effectiveness and performance of the developed estimation method are demonstrated based on experiments using IEEE 30-bus and 118-bus systems.
{"title":"An Estimation Method of Transmission Line Parameters Based on Measurements of Injection Power and Voltage Phasor in Power Grid","authors":"Yadong Zhou, Bowen Hu, Jiang Wu, Zhanbo Xu, X. Guan, Wei Chen, Ting Liu","doi":"10.1109/CASE49439.2021.9551501","DOIUrl":"https://doi.org/10.1109/CASE49439.2021.9551501","url":null,"abstract":"Estimation of transmission line parameters is an important problem for state estimation of power grid. In recent years, some studies have shown that the transmission line parameters can be estimated by some specific measurement data of the power grid. However, most of the studies mainly focus on single type of measurement data. In this paper, we propose an estimation method of transmission line parameters based on multi-measurement data of power grid, including measurements of injection power and voltage phasor. And considering the different reliability of the measurements, we make different restrictions on the multi-measurements. In our method, parameters and connection topology of transmission lines are estimated separately, and an ALS optimization model is established to solve the problem. Compared to the previous methods, the objective functions and constraints of our optimization model are improved, with considering different constraints based on phasor measurements, to get better estimation accuracy. The effectiveness and performance of the developed estimation method are demonstrated based on experiments using IEEE 30-bus and 118-bus systems.","PeriodicalId":232083,"journal":{"name":"2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)","volume":"135 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127348789","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 : 2021-08-23DOI: 10.1109/CASE49439.2021.9551618
A. Ashe, K. Krishna
Human-robot interaction, particularly in wheeled mobile robots that can autonomously assist humans to traverse dynamically changing environments is a field of active research. Integrated motion planning and obstacle-avoidance pose a considerable challenge for an autonomous person-following robot (PFR). And, scenarios with intersections and occlusions along the path only increase the complexity in sustained tracking. In this paper, we use model predictive control (MPC) with early-relocation (ER) strategy to formulate a prioritized tracking scheme and implement it for a differential-drive system. Our approach ensures that the target person stays within the field of view (FOV) of the PFR consistently, even while it maneuvers intersections or crowded spots, by adding new locations to its updated path. As trajectory generation in such cases must be incremental to accommodate new information, the use of efficient representations is key. To that end, we build this social representation of following a person directly into the controller itself. MPC can naturally handle such state and input limitations as constraints to solve an on-line optimization at each time step. A non-linear MPC with ER is thus devised and tested with increasing levels of complexity arising from occlusions due to the map and its dynamic actors. By using 2D simulations, we show that for slow and medium walking speeds of the target person, the controller can plan maneuvers with an adequate margin of over 20 Hz apt for achieving a near real-time person-following behaviour.
{"title":"Maneuvering Intersections & Occlusions Using MPC-Based Prioritized Tracking for Differential Drive Person Following Robot","authors":"A. Ashe, K. Krishna","doi":"10.1109/CASE49439.2021.9551618","DOIUrl":"https://doi.org/10.1109/CASE49439.2021.9551618","url":null,"abstract":"Human-robot interaction, particularly in wheeled mobile robots that can autonomously assist humans to traverse dynamically changing environments is a field of active research. Integrated motion planning and obstacle-avoidance pose a considerable challenge for an autonomous person-following robot (PFR). And, scenarios with intersections and occlusions along the path only increase the complexity in sustained tracking. In this paper, we use model predictive control (MPC) with early-relocation (ER) strategy to formulate a prioritized tracking scheme and implement it for a differential-drive system. Our approach ensures that the target person stays within the field of view (FOV) of the PFR consistently, even while it maneuvers intersections or crowded spots, by adding new locations to its updated path. As trajectory generation in such cases must be incremental to accommodate new information, the use of efficient representations is key. To that end, we build this social representation of following a person directly into the controller itself. MPC can naturally handle such state and input limitations as constraints to solve an on-line optimization at each time step. A non-linear MPC with ER is thus devised and tested with increasing levels of complexity arising from occlusions due to the map and its dynamic actors. By using 2D simulations, we show that for slow and medium walking speeds of the target person, the controller can plan maneuvers with an adequate margin of over 20 Hz apt for achieving a near real-time person-following behaviour.","PeriodicalId":232083,"journal":{"name":"2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)","volume":"59 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127381715","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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