Pub Date : 2022-11-14DOI: 10.1146/annurev-control-062322-100607
O. Yasa, Yasunori Toshimitsu, M. Michelis, Lewis S. Jones, Miriam Filippi, T. Buchner, Robert K. Katzschmann
Soft robots’ flexibility and compliance give them the potential to outperform traditional rigid-bodied robots while performing multiple tasks in unexpectedly changing environments and conditions. However, soft robots have not yet revealed their full potential since nature is still far more advanced in several areas, such as locomotion and manipulation. To understand what limits their performance and hinders their transition from laboratory to real-world conditions, future studies should focus on understanding the principles behind the design and operation of soft robots. Such studies should also consider the major challenges with regard to complex materials, accurate modeling, advanced control, and intelligent behaviors. As a starting point for such studies, this review provides a current overview of the field by examining the working mechanisms of advanced actuation and sensing modalities, modeling techniques, control strategies, and learning architectures for soft robots. Next, we summarize how these approaches can be applied to create sophisticated soft robots and examine their application areas. Finally, we provide future perspectives on what key challenges should be tackled first to advance soft robotics to truly add value to our society. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 14 is May 2023. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.
{"title":"An Overview of Soft Robotics","authors":"O. Yasa, Yasunori Toshimitsu, M. Michelis, Lewis S. Jones, Miriam Filippi, T. Buchner, Robert K. Katzschmann","doi":"10.1146/annurev-control-062322-100607","DOIUrl":"https://doi.org/10.1146/annurev-control-062322-100607","url":null,"abstract":"Soft robots’ flexibility and compliance give them the potential to outperform traditional rigid-bodied robots while performing multiple tasks in unexpectedly changing environments and conditions. However, soft robots have not yet revealed their full potential since nature is still far more advanced in several areas, such as locomotion and manipulation. To understand what limits their performance and hinders their transition from laboratory to real-world conditions, future studies should focus on understanding the principles behind the design and operation of soft robots. Such studies should also consider the major challenges with regard to complex materials, accurate modeling, advanced control, and intelligent behaviors. As a starting point for such studies, this review provides a current overview of the field by examining the working mechanisms of advanced actuation and sensing modalities, modeling techniques, control strategies, and learning architectures for soft robots. Next, we summarize how these approaches can be applied to create sophisticated soft robots and examine their application areas. Finally, we provide future perspectives on what key challenges should be tackled first to advance soft robotics to truly add value to our society. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 14 is May 2023. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.","PeriodicalId":29961,"journal":{"name":"Annual Review of Control Robotics and Autonomous Systems","volume":"34 1","pages":""},"PeriodicalIF":13.4,"publicationDate":"2022-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83726879","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-11-02DOI: 10.1146/annurev-control-042820-010811
M. Franceschetti, M. J. Khojasteh, M. Win
Networked control systems, where feedback loops are closed over communication networks, arise in several domains, including smart energy grids, autonomous driving, unmanned aerial vehicles, and many industrial and robotic systems active in service, production, agriculture, and smart homes and cities. In these settings, the two main layers of the system, control and communication, strongly affect each other's performance, and they also reveal the interaction between a cyber-system component, represented by information-based computing and communication technologies, and a physical-system component, represented by the environment that needs to be controlled. The information access and distribution constraints required to achieve reliable state estimation and stabilization in networked control systems have been intensively studied over the course of roughly two decades. This article reviews some of the cornerstone results in this area, draws a map for what we have learned over these years, and describes the new challenges that we will face in the future. Rather than simply listing different results, we present them in a coherent fashion using a uniform notation, and we also put them in context, highlighting both their theoretical insights and their practical significance. Particular attention is given to recent developments related to decentralized estimation in distributed sensing and communication systems and the information-theoretic value of event timing in the context of networked control. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 14 is May 2023. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.
{"title":"The Many Facets of Information in Networked Estimation and Control","authors":"M. Franceschetti, M. J. Khojasteh, M. Win","doi":"10.1146/annurev-control-042820-010811","DOIUrl":"https://doi.org/10.1146/annurev-control-042820-010811","url":null,"abstract":"Networked control systems, where feedback loops are closed over communication networks, arise in several domains, including smart energy grids, autonomous driving, unmanned aerial vehicles, and many industrial and robotic systems active in service, production, agriculture, and smart homes and cities. In these settings, the two main layers of the system, control and communication, strongly affect each other's performance, and they also reveal the interaction between a cyber-system component, represented by information-based computing and communication technologies, and a physical-system component, represented by the environment that needs to be controlled. The information access and distribution constraints required to achieve reliable state estimation and stabilization in networked control systems have been intensively studied over the course of roughly two decades. This article reviews some of the cornerstone results in this area, draws a map for what we have learned over these years, and describes the new challenges that we will face in the future. Rather than simply listing different results, we present them in a coherent fashion using a uniform notation, and we also put them in context, highlighting both their theoretical insights and their practical significance. Particular attention is given to recent developments related to decentralized estimation in distributed sensing and communication systems and the information-theoretic value of event timing in the context of networked control. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 14 is May 2023. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.","PeriodicalId":29961,"journal":{"name":"Annual Review of Control Robotics and Autonomous Systems","volume":"2 1","pages":""},"PeriodicalIF":13.4,"publicationDate":"2022-11-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80400891","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-13DOI: 10.1146/annurev-control-042820-125219
Roy S. Smith, Varsha Behrunani, J. Lygeros
Cost, efficiency, and emissions concerns have motivated the application of advanced control techniques to multiple carrier energy systems. Research in energy management and control over the last two decades has shown that significant energy and CO2 emissions reductions can be achieved. Within the last decade, this work has expanded to the domain of interconnected energy systems. The interconnection control of multiple energy carriers, conversion devices, and energy storage provides increased flexibility and energy/CO2 reduction potential. The focus of this article is on outlining the control methods required for these systems over a range of energy consumption and timescales. Dynamic interactions between multicarrier systems occur over timescales ranging from 15 minutes to seasons. The constrained nature of the resulting control problems favors optimization-based approaches. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 14 is May 2023. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.
{"title":"Control of Multicarrier Energy Systems from Buildings to Networks","authors":"Roy S. Smith, Varsha Behrunani, J. Lygeros","doi":"10.1146/annurev-control-042820-125219","DOIUrl":"https://doi.org/10.1146/annurev-control-042820-125219","url":null,"abstract":"Cost, efficiency, and emissions concerns have motivated the application of advanced control techniques to multiple carrier energy systems. Research in energy management and control over the last two decades has shown that significant energy and CO2 emissions reductions can be achieved. Within the last decade, this work has expanded to the domain of interconnected energy systems. The interconnection control of multiple energy carriers, conversion devices, and energy storage provides increased flexibility and energy/CO2 reduction potential. The focus of this article is on outlining the control methods required for these systems over a range of energy consumption and timescales. Dynamic interactions between multicarrier systems occur over timescales ranging from 15 minutes to seasons. The constrained nature of the resulting control problems favors optimization-based approaches. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 14 is May 2023. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.","PeriodicalId":29961,"journal":{"name":"Annual Review of Control Robotics and Autonomous Systems","volume":"58 1","pages":""},"PeriodicalIF":13.4,"publicationDate":"2022-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73426165","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-07DOI: 10.1146/annurev-control-062122-082114
P. Tsiotras, Matthew King-Smith, Lorenzo Ticozzi
Space-mounted robotics is becoming increasingly mainstream for many space missions. The aim of this article is threefold: first, to give a broad and quick overview of the importance of spacecraft-mounted robotics for future in-orbit servicing missions; second, to review the basic current approaches for modeling and control of spacecraft-mounted robotic systems; and third, to introduce some new developments in terms of modeling and control of spacecraft-mounted robotic manipulators using the language of hypercomplex numbers (dual quaternions). Some outstanding research questions and potential future directions in the field are also discussed. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 14 is May 2023. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.
{"title":"Spacecraft-Mounted Robotics","authors":"P. Tsiotras, Matthew King-Smith, Lorenzo Ticozzi","doi":"10.1146/annurev-control-062122-082114","DOIUrl":"https://doi.org/10.1146/annurev-control-062122-082114","url":null,"abstract":"Space-mounted robotics is becoming increasingly mainstream for many space missions. The aim of this article is threefold: first, to give a broad and quick overview of the importance of spacecraft-mounted robotics for future in-orbit servicing missions; second, to review the basic current approaches for modeling and control of spacecraft-mounted robotic systems; and third, to introduce some new developments in terms of modeling and control of spacecraft-mounted robotic manipulators using the language of hypercomplex numbers (dual quaternions). Some outstanding research questions and potential future directions in the field are also discussed. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 14 is May 2023. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.","PeriodicalId":29961,"journal":{"name":"Annual Review of Control Robotics and Autonomous Systems","volume":"21 1","pages":""},"PeriodicalIF":13.4,"publicationDate":"2022-10-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82413255","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-06DOI: 10.1146/annurev-control-060822-123629
Xiaoqian Gong, M. Herty, B. Piccoli, G. Visconti
This review aims to present recent developments in modeling and control of multiagent systems. A particular focus is set on crowd dynamics characterized by complex interactions among agents, also called social interactions, and large-scale systems. Specifically, in a crowd each individual agent interacts with a field generated by the other agents and the environment. These systems can be modeled at the microscopic scale by ordinary differential equations, while an alternative description at the mesoscopic scale is given by a partial differential equation for the propagation of the probability density of the agents. Control actions can be applied at the individual level as well as at the level of the corresponding fields. This article presents and compares different control types, and the specific application to multilane, multiclass traffic is developed in some detail, showing the main tools at work in a hybrid setting with relevant impacts on autonomous driving. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 14 is May 2023. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.
{"title":"Crowd Dynamics: Modeling and Control of Multiagent Systems","authors":"Xiaoqian Gong, M. Herty, B. Piccoli, G. Visconti","doi":"10.1146/annurev-control-060822-123629","DOIUrl":"https://doi.org/10.1146/annurev-control-060822-123629","url":null,"abstract":"This review aims to present recent developments in modeling and control of multiagent systems. A particular focus is set on crowd dynamics characterized by complex interactions among agents, also called social interactions, and large-scale systems. Specifically, in a crowd each individual agent interacts with a field generated by the other agents and the environment. These systems can be modeled at the microscopic scale by ordinary differential equations, while an alternative description at the mesoscopic scale is given by a partial differential equation for the propagation of the probability density of the agents. Control actions can be applied at the individual level as well as at the level of the corresponding fields. This article presents and compares different control types, and the specific application to multilane, multiclass traffic is developed in some detail, showing the main tools at work in a hybrid setting with relevant impacts on autonomous driving. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 14 is May 2023. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.","PeriodicalId":29961,"journal":{"name":"Annual Review of Control Robotics and Autonomous Systems","volume":"10 1 1","pages":""},"PeriodicalIF":13.4,"publicationDate":"2022-10-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77624301","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-06DOI: 10.1146/annurev-control-052622-032657
F. Dörfler, Dominic Gross
Electric power systems are undergoing an unprecedented transition from fossil fuel–based power plants to low-inertia systems that rely predominantly on power electronics and renewable energy resources. This article reviews the resulting control challenges and modeling fallacies, at both the device and system level, and focuses on novel aspects or classical concepts that need to be revised in light of the transition to low-inertia systems. To this end, we survey the literature on modeling of low-inertia systems, review research on the control of grid-connected power converters, and discuss the frequency dynamics of low-inertia systems. Moreover, we discuss system-level services from a control perspective. Overall, we conclude that the system-theoretic mindset is essential to bridge different research communities and understand the complex interactions of power electronics, electric machines, and their controls in large-scale low-inertia power systems. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 14 is May 2023. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.
{"title":"Control of Low-Inertia Power Systems","authors":"F. Dörfler, Dominic Gross","doi":"10.1146/annurev-control-052622-032657","DOIUrl":"https://doi.org/10.1146/annurev-control-052622-032657","url":null,"abstract":"Electric power systems are undergoing an unprecedented transition from fossil fuel–based power plants to low-inertia systems that rely predominantly on power electronics and renewable energy resources. This article reviews the resulting control challenges and modeling fallacies, at both the device and system level, and focuses on novel aspects or classical concepts that need to be revised in light of the transition to low-inertia systems. To this end, we survey the literature on modeling of low-inertia systems, review research on the control of grid-connected power converters, and discuss the frequency dynamics of low-inertia systems. Moreover, we discuss system-level services from a control perspective. Overall, we conclude that the system-theoretic mindset is essential to bridge different research communities and understand the complex interactions of power electronics, electric machines, and their controls in large-scale low-inertia power systems. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 14 is May 2023. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.","PeriodicalId":29961,"journal":{"name":"Annual Review of Control Robotics and Autonomous Systems","volume":"124 1","pages":""},"PeriodicalIF":13.4,"publicationDate":"2022-10-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79562793","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-05-01DOI: 10.1146/annurev-control-060117-105206
Daniel McNamee, Daniel M Wolpert
Rationality principles such as optimal feedback control and Bayesian inference underpin a probabilistic framework that has accounted for a range of empirical phenomena in biological sensorimotor control. To facilitate the optimization of flexible and robust behaviors consistent with these theories, the ability to construct internal models of the motor system and environmental dynamics can be crucial. In the context of this theoretic formalism, we review the computational roles played by such internal models and the neural and behavioral evidence for their implementation in the brain.
{"title":"Internal Models in Biological Control.","authors":"Daniel McNamee, Daniel M Wolpert","doi":"10.1146/annurev-control-060117-105206","DOIUrl":"10.1146/annurev-control-060117-105206","url":null,"abstract":"<p><p>Rationality principles such as optimal feedback control and Bayesian inference underpin a probabilistic framework that has accounted for a range of empirical phenomena in biological sensorimotor control. To facilitate the optimization of flexible and robust behaviors consistent with these theories, the ability to construct internal models of the motor system and environmental dynamics can be crucial. In the context of this theoretic formalism, we review the computational roles played by such internal models and the neural and behavioral evidence for their implementation in the brain.</p>","PeriodicalId":29961,"journal":{"name":"Annual Review of Control Robotics and Autonomous Systems","volume":"2 ","pages":"339-364"},"PeriodicalIF":11.2,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6520231/pdf/emss-79233.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"37257719","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-05-01DOI: 10.1146/annurev-control-061417-041727
Brenna D Argall
Within the field of human rehabilitation, robotic machines are used both to rehabilitate the body and to perform functional tasks. Robotics autonomy able to perceive the external world and reason about high-level control decisions, however, seldom is present in these machines. For functional tasks in particular, autonomy could help to decrease the operational burden on the human and perhaps even to increase access-and this potential only grows as human motor impairments become more severe. There are however serious, and often subtle, considerations to introducing clinically-feasible robotics autonomy to rehabilitation robots and machines. Today the fields of robotics autonomy and rehabilitation robotics are largely separate. The topic of this article is at the intersection of these fields: the introduction of clinically-feasible autonomy solutions to rehabilitation robots, and opportunities for autonomy within the rehabilitation domain.
{"title":"Autonomy in Rehabilitation Robotics: An Intersection.","authors":"Brenna D Argall","doi":"10.1146/annurev-control-061417-041727","DOIUrl":"10.1146/annurev-control-061417-041727","url":null,"abstract":"<p><p>Within the field of human rehabilitation, robotic machines are used both to rehabilitate the body and to perform functional tasks. Robotics autonomy able to perceive the external world and reason about high-level control decisions, however, seldom is present in these machines. For functional tasks in particular, autonomy could help to decrease the operational burden on the human and perhaps even to increase access-and this potential only grows as human motor impairments become more severe. There are however serious, and often subtle, considerations to introducing clinically-feasible robotics autonomy to rehabilitation robots and machines. Today the fields of robotics autonomy and rehabilitation robotics are largely separate. The topic of this article is at the intersection of these fields: the introduction of clinically-feasible autonomy solutions to rehabilitation robots, and opportunities for autonomy within the rehabilitation domain.</p>","PeriodicalId":29961,"journal":{"name":"Annual Review of Control Robotics and Autonomous Systems","volume":"1 ","pages":"441-463"},"PeriodicalIF":13.4,"publicationDate":"2018-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8313033/pdf/nihms-1646639.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"39230123","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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