Pub Date : 2019-07-01DOI: 10.1109/RoMoCo.2019.8787358
Ola Skeik, Junyan Hu, F. Arvin, A. Lanzon
This paper contributes to the solution of mobile robots rendezvous problem via the negative imaginary (NI) systems theory. Cooperative control strategies are proposed for integrator NI systems. These control strategies are beneficial because they can be directly applied to wheeled mobile robots. First, we show that the NI property is preserved for multiple multi-input multi-output (MIMO) integrator systems with directional information flow that is balanced and strongly connected. Then, we derive conditions that guarantee output consensus and output tracking for strongly connected, balanced and directed networks of integrators subject to energy-bounded disturbances using the NI internal stability theorems. Finally, experimental and simulation results are provided to validate the effectiveness of the proposed NI cooperative tracking results to achieve rendezvous of multiple nonholonomic wheeled mobile robots.
{"title":"Cooperative Control of Integrator Negative Imaginary Systems with Application to Rendezvous Multiple Mobile Robots","authors":"Ola Skeik, Junyan Hu, F. Arvin, A. Lanzon","doi":"10.1109/RoMoCo.2019.8787358","DOIUrl":"https://doi.org/10.1109/RoMoCo.2019.8787358","url":null,"abstract":"This paper contributes to the solution of mobile robots rendezvous problem via the negative imaginary (NI) systems theory. Cooperative control strategies are proposed for integrator NI systems. These control strategies are beneficial because they can be directly applied to wheeled mobile robots. First, we show that the NI property is preserved for multiple multi-input multi-output (MIMO) integrator systems with directional information flow that is balanced and strongly connected. Then, we derive conditions that guarantee output consensus and output tracking for strongly connected, balanced and directed networks of integrators subject to energy-bounded disturbances using the NI internal stability theorems. Finally, experimental and simulation results are provided to validate the effectiveness of the proposed NI cooperative tracking results to achieve rendezvous of multiple nonholonomic wheeled mobile robots.","PeriodicalId":415070,"journal":{"name":"2019 12th International Workshop on Robot Motion and Control (RoMoCo)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132924633","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 : 2019-07-01DOI: 10.1109/RoMoCo.2019.8787368
W. Domski, A. Mazur
The work presented in this paper shows the idea of extended factitious force method for control of skid-steering mobile platforms and the approach of non-ideal velocity constraints. The same model for both methods is presented and compared. It is shown that the both methods are different in origin but are a mechanism of overcomming a problem of underactuation on dynamic level. Extended factitious force introduces new virtual inputs to the system while the non-ideal velocity constraints method allows a small disturbance which bends the constraints imposed on the system. The methods are compared in terms of an estimation of slippage where the newly introduced terms are linear combination of the other method.
{"title":"Extended factitious force idea vs non-ideal velocity constraints method in control of the SSMP platforms","authors":"W. Domski, A. Mazur","doi":"10.1109/RoMoCo.2019.8787368","DOIUrl":"https://doi.org/10.1109/RoMoCo.2019.8787368","url":null,"abstract":"The work presented in this paper shows the idea of extended factitious force method for control of skid-steering mobile platforms and the approach of non-ideal velocity constraints. The same model for both methods is presented and compared. It is shown that the both methods are different in origin but are a mechanism of overcomming a problem of underactuation on dynamic level. Extended factitious force introduces new virtual inputs to the system while the non-ideal velocity constraints method allows a small disturbance which bends the constraints imposed on the system. The methods are compared in terms of an estimation of slippage where the newly introduced terms are linear combination of the other method.","PeriodicalId":415070,"journal":{"name":"2019 12th International Workshop on Robot Motion and Control (RoMoCo)","volume":"94 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131772872","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 : 2019-07-01DOI: 10.1109/RoMoCo.2019.8787384
J. Ratajczak, K. Tchoń
This paper presents an application of the Lagrangian Jacobian motion planning algorithm to non-holonomic robotic systems subordinated to affine Pfaffian constraints. A specific form of the algorithm, minimizing the energy of the trajectory variations, is applied to free-floating space manipulators equipped with 3 or 4 DOF on-board manipulator, and compared with the Jacobian pseudoinverse algorithm. To make the motion planning problem tractable the dynamics model of the space manipulator is transformed by feedback to a pre-normal form. Results of computer simulations show potential advantages of this Lagrangian Jacobian motion planning for applications in Space robotics.
{"title":"Lagrangian Jacobian motion planning with application to a free-floating space manipulator","authors":"J. Ratajczak, K. Tchoń","doi":"10.1109/RoMoCo.2019.8787384","DOIUrl":"https://doi.org/10.1109/RoMoCo.2019.8787384","url":null,"abstract":"This paper presents an application of the Lagrangian Jacobian motion planning algorithm to non-holonomic robotic systems subordinated to affine Pfaffian constraints. A specific form of the algorithm, minimizing the energy of the trajectory variations, is applied to free-floating space manipulators equipped with 3 or 4 DOF on-board manipulator, and compared with the Jacobian pseudoinverse algorithm. To make the motion planning problem tractable the dynamics model of the space manipulator is transformed by feedback to a pre-normal form. Results of computer simulations show potential advantages of this Lagrangian Jacobian motion planning for applications in Space robotics.","PeriodicalId":415070,"journal":{"name":"2019 12th International Workshop on Robot Motion and Control (RoMoCo)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115249623","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 : 2019-07-01DOI: 10.1109/RoMoCo.2019.8787357
D. Ophir, A. Davidovitch
The Multi-Level Adaptive Technique (MLAT) is a technique used for solving problems approximately and iteratively at levels with various resolutions, and then injecting the corresponding solution at each level into a problem with close resolution for the next iteration. MLAT was originally applied solving successfully partial differential equations using the so called Multi Grid method, using a set of grids with gradually varying mesh sizes. Each grid was treated separately using the so-called relaxation, and then traversing (injection from fine to coarse grid, and interpolation from coarse to fine grid) the data between the grids at two close levels. The Traveling Salesman (TS) problem - popular in Motion Planning, solved by MLAT using Graph Theory. The vertices are specially partitioned into groups, which are moved into more general groups, and again into higher level groups. This grouping is repeated until the number of elements at the highest level collected, does not have too many elements in order to enable their easy and fast manipulation. The TS problem, namely, searching for the shortest path traversing all the vertices in the graph, is approximated by MLAT by partitioning the graph into small subgraphs by selecting the odd vertices in the original graph; each subgraph is similarly divided again into a smaller subgraph. This procedure is repeated until a subgraph is obtained, which is small enough. The TS problem is solved using the coarsest subgraph obtained. This solution is injected into the finer subgraph to improve the approximate solution by relaxation, on the current subgraph. The injection from a coarse graph to a fine graph is followed by relaxation, which is repeated on all the pairs of the graph and its subgraph. Then the opposite direction is applied injection: bottom up, from a finer graph to a coarser graph. Relaxation is an iterative process in which a graph's vertices are traversed, improving the solution. In order to increase the chances of a more accurate solution, the algorithm's direction is determined in a nondeterministic way using so-called Simulated Annealing. The MLAT implementation may enable a Multi-Processing leading to Parallel-Processing, which is an additional advantage.
{"title":"Planning TS Trajectory Using MLAT in $mathrm{o}(mathrm{n}log mathrm{n})$","authors":"D. Ophir, A. Davidovitch","doi":"10.1109/RoMoCo.2019.8787357","DOIUrl":"https://doi.org/10.1109/RoMoCo.2019.8787357","url":null,"abstract":"The Multi-Level Adaptive Technique (MLAT) is a technique used for solving problems approximately and iteratively at levels with various resolutions, and then injecting the corresponding solution at each level into a problem with close resolution for the next iteration. MLAT was originally applied solving successfully partial differential equations using the so called Multi Grid method, using a set of grids with gradually varying mesh sizes. Each grid was treated separately using the so-called relaxation, and then traversing (injection from fine to coarse grid, and interpolation from coarse to fine grid) the data between the grids at two close levels. The Traveling Salesman (TS) problem - popular in Motion Planning, solved by MLAT using Graph Theory. The vertices are specially partitioned into groups, which are moved into more general groups, and again into higher level groups. This grouping is repeated until the number of elements at the highest level collected, does not have too many elements in order to enable their easy and fast manipulation. The TS problem, namely, searching for the shortest path traversing all the vertices in the graph, is approximated by MLAT by partitioning the graph into small subgraphs by selecting the odd vertices in the original graph; each subgraph is similarly divided again into a smaller subgraph. This procedure is repeated until a subgraph is obtained, which is small enough. The TS problem is solved using the coarsest subgraph obtained. This solution is injected into the finer subgraph to improve the approximate solution by relaxation, on the current subgraph. The injection from a coarse graph to a fine graph is followed by relaxation, which is repeated on all the pairs of the graph and its subgraph. Then the opposite direction is applied injection: bottom up, from a finer graph to a coarser graph. Relaxation is an iterative process in which a graph's vertices are traversed, improving the solution. In order to increase the chances of a more accurate solution, the algorithm's direction is determined in a nondeterministic way using so-called Simulated Annealing. The MLAT implementation may enable a Multi-Processing leading to Parallel-Processing, which is an additional advantage.","PeriodicalId":415070,"journal":{"name":"2019 12th International Workshop on Robot Motion and Control (RoMoCo)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124806277","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 : 2019-07-01DOI: 10.1109/RoMoCo.2019.8787371
P. Sauer, B. Lubiatowski, S. Chorodenski, B. Breninek, K. Gruszczynski
In this paper, prototype of RSQ motion system is presented. This system can used in proprioception studies. The quaternion was used to determine the orientation. For the purposes of the research, the avatar visualization was implemented in the unity environment.
{"title":"RSQ Motion - a prototype of the motion analysis system in the joints","authors":"P. Sauer, B. Lubiatowski, S. Chorodenski, B. Breninek, K. Gruszczynski","doi":"10.1109/RoMoCo.2019.8787371","DOIUrl":"https://doi.org/10.1109/RoMoCo.2019.8787371","url":null,"abstract":"In this paper, prototype of RSQ motion system is presented. This system can used in proprioception studies. The quaternion was used to determine the orientation. For the purposes of the research, the avatar visualization was implemented in the unity environment.","PeriodicalId":415070,"journal":{"name":"2019 12th International Workshop on Robot Motion and Control (RoMoCo)","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133793573","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 : 2019-07-01DOI: 10.1109/romoco.2019.8787372
{"title":"[Copyright notice]","authors":"","doi":"10.1109/romoco.2019.8787372","DOIUrl":"https://doi.org/10.1109/romoco.2019.8787372","url":null,"abstract":"","PeriodicalId":415070,"journal":{"name":"2019 12th International Workshop on Robot Motion and Control (RoMoCo)","volume":"340 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133993364","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 : 2019-07-01DOI: 10.1109/RoMoCo.2019.8787370
D. Seredyński, Tomasz Winiarski, C. Zieliński
The paper presents FABRIC, a framework and a toolchain that facilitates semi-automatic generation of agent-based control systems for robots. The presented approach combines agent-based formal specification with implementation employing component-based frameworks. The input for the generation method consists of the formal specification of the designed control system expressed in a DSL and source code encapsulated in components. Decomposition of a formal specification into a hierarchical structure of patterns and their parameters is employed. It implies a division of the specification into a number of items, produced using a DSL and source code expressed in a universal programming language. The method of generating a working agent-based system, out of its specification and selected components, is verified on a service robot that executes complex tasks, i.e. door opening.
{"title":"FABRIC: Framework for Agent-Based Robot Control Systems","authors":"D. Seredyński, Tomasz Winiarski, C. Zieliński","doi":"10.1109/RoMoCo.2019.8787370","DOIUrl":"https://doi.org/10.1109/RoMoCo.2019.8787370","url":null,"abstract":"The paper presents FABRIC, a framework and a toolchain that facilitates semi-automatic generation of agent-based control systems for robots. The presented approach combines agent-based formal specification with implementation employing component-based frameworks. The input for the generation method consists of the formal specification of the designed control system expressed in a DSL and source code encapsulated in components. Decomposition of a formal specification into a hierarchical structure of patterns and their parameters is employed. It implies a division of the specification into a number of items, produced using a DSL and source code expressed in a universal programming language. The method of generating a working agent-based system, out of its specification and selected components, is verified on a service robot that executes complex tasks, i.e. door opening.","PeriodicalId":415070,"journal":{"name":"2019 12th International Workshop on Robot Motion and Control (RoMoCo)","volume":"114 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116041809","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 : 2019-07-01DOI: 10.1109/RoMoCo.2019.8787374
Leonardo Guevara, M. Torres-Torriti, F. A. Cheeín
In this work, a collision-free navigation strategy for N-trailer vehicles is proposed. This approach is based on a scalable cascaded control scheme to perform several tasks simultaneously: trajectory tracking control, off-track error reduction, external obstacles avoidance, and inter-vehicle collision avoidance. To validate the proposed strategy, a Generalized N-trailer (GNT) structure with a car-like tractor and 10 trailers is tested in simulation to track an U-shape trajectory in presence of unknown obstacles, similar to the trajectories that agricultural vehicles must perform in real applications. The well-known information about external infrastructure is also considered to reduce unsafe trailers off-track errors in turning scenarios. Moreover, the motion constraints imposed by the car-like tractor physical limitations and the interconnections between trailers are also considered by restricting the control input in order to avoid collision between trailers. The simulation results obtained showed a safe navigation which performed feasible maneuvers without collisions between the vehicles' chain and any trailer or external obstacle.
{"title":"Collision-free navigation of N-trailer vehicles with motion constraints","authors":"Leonardo Guevara, M. Torres-Torriti, F. A. Cheeín","doi":"10.1109/RoMoCo.2019.8787374","DOIUrl":"https://doi.org/10.1109/RoMoCo.2019.8787374","url":null,"abstract":"In this work, a collision-free navigation strategy for N-trailer vehicles is proposed. This approach is based on a scalable cascaded control scheme to perform several tasks simultaneously: trajectory tracking control, off-track error reduction, external obstacles avoidance, and inter-vehicle collision avoidance. To validate the proposed strategy, a Generalized N-trailer (GNT) structure with a car-like tractor and 10 trailers is tested in simulation to track an U-shape trajectory in presence of unknown obstacles, similar to the trajectories that agricultural vehicles must perform in real applications. The well-known information about external infrastructure is also considered to reduce unsafe trailers off-track errors in turning scenarios. Moreover, the motion constraints imposed by the car-like tractor physical limitations and the interconnections between trailers are also considered by restricting the control input in order to avoid collision between trailers. The simulation results obtained showed a safe navigation which performed feasible maneuvers without collisions between the vehicles' chain and any trailer or external obstacle.","PeriodicalId":415070,"journal":{"name":"2019 12th International Workshop on Robot Motion and Control (RoMoCo)","volume":"EC-1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126551556","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 : 2019-07-01DOI: 10.1109/RoMoCo.2019.8787386
E. Bayro-Corrochano
The dynamic model of a robot arm is derived based on the iterative Newton-Euler formalism in terms of screw theory in the motor algebra framework. The iterative method allows us to compute the local dynamic model of each joint and therefore to apply localized non-linear controllers. In the experimental analysis, we compare a SE(3) PD and a sliding mode controllers. The experimental analysis shows that our control law is stable and tracks a non-linear trajectory.
{"title":"Robot Modeling and Control Using the Motor Algebra Framework","authors":"E. Bayro-Corrochano","doi":"10.1109/RoMoCo.2019.8787386","DOIUrl":"https://doi.org/10.1109/RoMoCo.2019.8787386","url":null,"abstract":"The dynamic model of a robot arm is derived based on the iterative Newton-Euler formalism in terms of screw theory in the motor algebra framework. The iterative method allows us to compute the local dynamic model of each joint and therefore to apply localized non-linear controllers. In the experimental analysis, we compare a SE(3) PD and a sliding mode controllers. The experimental analysis shows that our control law is stable and tracks a non-linear trajectory.","PeriodicalId":415070,"journal":{"name":"2019 12th International Workshop on Robot Motion and Control (RoMoCo)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131119556","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 : 2019-07-01DOI: 10.1109/RoMoCo.2019.8787377
M. Galicki, M. Banaszkiewicz
In the present work, a new task space nonsingular terminal sliding mode (TSM) manifold defined by non-linear integral equation of the first order with respect to the task tracking error and a kind of computed torque method are introduced to control four mecanum wheeled mobile robot (FMWMR). On account of the full rank of the Jacobian matrix of the omni-directional holonomic mechanism, the proposed control scheme is shown to be globally finite-time stable despite uncertain dynamic equations and (globally) unbounded disturbances acting on the FMWMR. Moreover, the proposed control law provides (locally) optimal solution. The numerical simulations carried out for a youBot platform with four mecanum wheels illustrate both the performance of the proposed control scheme and simultaneously its minimizing property for some practically useful objective function.
{"title":"Optimal trajectory tracking control of omni-directional mobile robots","authors":"M. Galicki, M. Banaszkiewicz","doi":"10.1109/RoMoCo.2019.8787377","DOIUrl":"https://doi.org/10.1109/RoMoCo.2019.8787377","url":null,"abstract":"In the present work, a new task space nonsingular terminal sliding mode (TSM) manifold defined by non-linear integral equation of the first order with respect to the task tracking error and a kind of computed torque method are introduced to control four mecanum wheeled mobile robot (FMWMR). On account of the full rank of the Jacobian matrix of the omni-directional holonomic mechanism, the proposed control scheme is shown to be globally finite-time stable despite uncertain dynamic equations and (globally) unbounded disturbances acting on the FMWMR. Moreover, the proposed control law provides (locally) optimal solution. The numerical simulations carried out for a youBot platform with four mecanum wheels illustrate both the performance of the proposed control scheme and simultaneously its minimizing property for some practically useful objective function.","PeriodicalId":415070,"journal":{"name":"2019 12th International Workshop on Robot Motion and Control (RoMoCo)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121623111","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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