Pub Date : 2019-08-01DOI: 10.1109/COASE.2019.8843274
A. Rashidinejad, M. Reniers, Martin Fabian
In conventional supervisory control theory, a plant and supervisor are supposed to work synchronously such that enabling an event by the supervisor, execution of it in the plant, and observation of the executed event by the supervisor all occur at once. Therefore, these occurrences are all captured by means of a single event. However, when a supervisor synthesized from conventional supervisory control theory is implemented in real life, it will face problems since exact synchronization can hardly happen in practice due to delayed communications. In this paper, we propose a synthesis technique to achieve a supervisor that does not face the problems caused by inexact synchronization. For this purpose, we first introduce an asynchronous setting in which enablement, execution, and observation of an event do not occur simultaneously but with some delay. We present a model representing the behavior of the plant in the asynchronous setting which we call the asynchronous plant. For the asynchronous plant, we present an algorithm synthesizing an asynchronous supervisor which satisfies (asynchronous) controllability and nonblockingness.
{"title":"Supervisory Control of Discrete-Event Systems in an Asynchronous Setting","authors":"A. Rashidinejad, M. Reniers, Martin Fabian","doi":"10.1109/COASE.2019.8843274","DOIUrl":"https://doi.org/10.1109/COASE.2019.8843274","url":null,"abstract":"In conventional supervisory control theory, a plant and supervisor are supposed to work synchronously such that enabling an event by the supervisor, execution of it in the plant, and observation of the executed event by the supervisor all occur at once. Therefore, these occurrences are all captured by means of a single event. However, when a supervisor synthesized from conventional supervisory control theory is implemented in real life, it will face problems since exact synchronization can hardly happen in practice due to delayed communications. In this paper, we propose a synthesis technique to achieve a supervisor that does not face the problems caused by inexact synchronization. For this purpose, we first introduce an asynchronous setting in which enablement, execution, and observation of an event do not occur simultaneously but with some delay. We present a model representing the behavior of the plant in the asynchronous setting which we call the asynchronous plant. For the asynchronous plant, we present an algorithm synthesizing an asynchronous supervisor which satisfies (asynchronous) controllability and nonblockingness.","PeriodicalId":6695,"journal":{"name":"2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)","volume":"34 1","pages":"494-501"},"PeriodicalIF":0.0,"publicationDate":"2019-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76274890","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 : 2019-08-01DOI: 10.1109/COASE.2019.8843106
A. Prakash, Qiaochu He, Xiang Zhong
E-onsults offer a digital platform where primary care providers (PCP) can consult the specialists and obtain feedback or offer a direct specialty referral to the patients. In this work, we aim to investigate whether e-consults can help match patients to the right care provider (PCP or Specialist) and reduce delays. We offer a high-level abstraction of e-consult operations using an analytical framework that quantifies the benefit of e-consults in the context of efficient matching in a flexible service system. With heterogeneous patients who lack information regarding the severity of their condition, a Bayesian framework is developed to estimate the true severity, parametrized by the level of e-consult efficacy, a measure of the degree of PCPs and specialists’ communication and information sharing efforts. Patients react to e-consults based on their perceived utility which is sensitive to delay and mismatch costs. Under incentive compatibility assumptions, equilibrium patient flows given perfect and imperfect e-consults are identified. Fundamental properties of the flexible service system and the value of e-consults are investigated. We conclude analytically that, e-consults, when implemented with increasing perfection, enhance the operational and economic performance of the care delivery system. When designed appropriately, e-consults offer the promise to improve patient access to care with streamlined patient flow, improved care quality, and reduced costs and redundancies.
{"title":"Evaluation of E-Consults in Healthcare Delivery","authors":"A. Prakash, Qiaochu He, Xiang Zhong","doi":"10.1109/COASE.2019.8843106","DOIUrl":"https://doi.org/10.1109/COASE.2019.8843106","url":null,"abstract":"E-onsults offer a digital platform where primary care providers (PCP) can consult the specialists and obtain feedback or offer a direct specialty referral to the patients. In this work, we aim to investigate whether e-consults can help match patients to the right care provider (PCP or Specialist) and reduce delays. We offer a high-level abstraction of e-consult operations using an analytical framework that quantifies the benefit of e-consults in the context of efficient matching in a flexible service system. With heterogeneous patients who lack information regarding the severity of their condition, a Bayesian framework is developed to estimate the true severity, parametrized by the level of e-consult efficacy, a measure of the degree of PCPs and specialists’ communication and information sharing efforts. Patients react to e-consults based on their perceived utility which is sensitive to delay and mismatch costs. Under incentive compatibility assumptions, equilibrium patient flows given perfect and imperfect e-consults are identified. Fundamental properties of the flexible service system and the value of e-consults are investigated. We conclude analytically that, e-consults, when implemented with increasing perfection, enhance the operational and economic performance of the care delivery system. When designed appropriately, e-consults offer the promise to improve patient access to care with streamlined patient flow, improved care quality, and reduced costs and redundancies.","PeriodicalId":6695,"journal":{"name":"2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)","volume":"41 1","pages":"287-292"},"PeriodicalIF":0.0,"publicationDate":"2019-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91171844","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 : 2019-08-01DOI: 10.1109/COASE.2019.8843255
Adam Pettinger, Conner Dimoush, M. Pryor
Robotic tool changers allow the use of multiple tools or end-effectors by a robotic manipulator and eliminate the need for human intervention to change tools. In this paper, we present the design and testing of a passive mechanical tool changer designed for a project involving the inspection of an acidic and radioactive air duct. The tool changer relied on the active/passive motions of a compliant manipulator to perform tool changes and contains no electrical or pneumatic components. The resulting tool changing operation utilizes a developed compliant controller that relies exclusively on contact forces to guide the manipulator, and thus eliminates the need for precision operation or any assistance from the operator. The design features a locking system to ensure secure storage of tools that are not in use. Furthermore, the connection mechanism includes a bore scope camera for use when tools are not attached or to visually verify tool connections. Testing and demonstrations were performed to validate both the design and operation as well as show both the tools and tool changer perform in an extreme environment. The design requirements, iterative process, and prototype testing with the manipulator are also discussed.
{"title":"Passive Tool Changer Development for an Elastic and Compliant Manipulator","authors":"Adam Pettinger, Conner Dimoush, M. Pryor","doi":"10.1109/COASE.2019.8843255","DOIUrl":"https://doi.org/10.1109/COASE.2019.8843255","url":null,"abstract":"Robotic tool changers allow the use of multiple tools or end-effectors by a robotic manipulator and eliminate the need for human intervention to change tools. In this paper, we present the design and testing of a passive mechanical tool changer designed for a project involving the inspection of an acidic and radioactive air duct. The tool changer relied on the active/passive motions of a compliant manipulator to perform tool changes and contains no electrical or pneumatic components. The resulting tool changing operation utilizes a developed compliant controller that relies exclusively on contact forces to guide the manipulator, and thus eliminates the need for precision operation or any assistance from the operator. The design features a locking system to ensure secure storage of tools that are not in use. Furthermore, the connection mechanism includes a bore scope camera for use when tools are not attached or to visually verify tool connections. Testing and demonstrations were performed to validate both the design and operation as well as show both the tools and tool changer perform in an extreme environment. The design requirements, iterative process, and prototype testing with the manipulator are also discussed.","PeriodicalId":6695,"journal":{"name":"2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)","volume":"82 1","pages":"1200-1205"},"PeriodicalIF":0.0,"publicationDate":"2019-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83267146","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 : 2019-08-01DOI: 10.1109/COASE.2019.8843107
Haowen Lai, Q. Kang, Le Pan, Can Cui
Nowadays plenty of pointer meters are used in the field of chemical industry and electrical power system. To avoid reading their indication manually, many algorithms based on computer vision have been proposed to read pointer meters automatically. These methods, however, are limited to meters whose scales are uniform, and their accuracy is vulnerable to the error in the recognition of a meter’s center. In this paper, a novel automatic reading algorithm of pointer meters based on scale seeking is proposed to overcome the weaknesses of the existing methods. Differing from the popular angle-based methods, we obtain the indication of the meter by comparing the distances between the peak of pointer and its nearest scales. The position and values of all scales can be automatically acquired and inferred by using our scale seeking and value inference algorithms, which is independent of any prior information in a database. Experiments prove that the algorithm can be applied to both meters with uniform or non-uniform scales effectively.
{"title":"A Novel Scale Recognition Method for Pointer Meters Adapted to Different Types and Shapes","authors":"Haowen Lai, Q. Kang, Le Pan, Can Cui","doi":"10.1109/COASE.2019.8843107","DOIUrl":"https://doi.org/10.1109/COASE.2019.8843107","url":null,"abstract":"Nowadays plenty of pointer meters are used in the field of chemical industry and electrical power system. To avoid reading their indication manually, many algorithms based on computer vision have been proposed to read pointer meters automatically. These methods, however, are limited to meters whose scales are uniform, and their accuracy is vulnerable to the error in the recognition of a meter’s center. In this paper, a novel automatic reading algorithm of pointer meters based on scale seeking is proposed to overcome the weaknesses of the existing methods. Differing from the popular angle-based methods, we obtain the indication of the meter by comparing the distances between the peak of pointer and its nearest scales. The position and values of all scales can be automatically acquired and inferred by using our scale seeking and value inference algorithms, which is independent of any prior information in a database. Experiments prove that the algorithm can be applied to both meters with uniform or non-uniform scales effectively.","PeriodicalId":6695,"journal":{"name":"2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)","volume":"13 1","pages":"374-379"},"PeriodicalIF":0.0,"publicationDate":"2019-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87484883","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 : 2019-08-01DOI: 10.1109/COASE.2019.8843314
Martin Paczona, H. Mayr
This paper presents an approach for model-driven mechatronic system development. The approach starts with the definition of a suitable domain-specific modeling language and its semantic foundation in a domain ontology. Models created in this language are used to generate application-specific artefacts. We illustrate our approach with the example of the development of Electric Vehicle Testbeds (EVTs), i.e. systems for testing high-voltage electric vehicle components. Companies in the electric vehicle industry (automobile, aircraft and rail vehicle manufacturers) mainly use such systems. Like many other mechatronic systems, EVTs are typically tailor-made solutions. Our approach automates manual development steps and can thus contribute to quality improvement, development time reduction and finally cost reduction.
{"title":"Model-Driven Mechatronic System Development","authors":"Martin Paczona, H. Mayr","doi":"10.1109/COASE.2019.8843314","DOIUrl":"https://doi.org/10.1109/COASE.2019.8843314","url":null,"abstract":"This paper presents an approach for model-driven mechatronic system development. The approach starts with the definition of a suitable domain-specific modeling language and its semantic foundation in a domain ontology. Models created in this language are used to generate application-specific artefacts. We illustrate our approach with the example of the development of Electric Vehicle Testbeds (EVTs), i.e. systems for testing high-voltage electric vehicle components. Companies in the electric vehicle industry (automobile, aircraft and rail vehicle manufacturers) mainly use such systems. Like many other mechatronic systems, EVTs are typically tailor-made solutions. Our approach automates manual development steps and can thus contribute to quality improvement, development time reduction and finally cost reduction.","PeriodicalId":6695,"journal":{"name":"2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)","volume":"62 1","pages":"1730-1736"},"PeriodicalIF":0.0,"publicationDate":"2019-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87496817","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 : 2019-08-01DOI: 10.1109/COASE.2019.8843091
Kai Cai, A. Giua, C. Seatzu
In this paper we develop a general framework, called “consistent reduction” for formalizing and solving a class of minimization/reduction problems in discrete-event systems. Given an arbitrary finite-state automaton and a binary relation on its state set, we propose a consistent reduction procedure that generates a reduced automaton, preserving certain special properties of the original automaton. The key concept of the consistent reduction procedure is the reduction cover; in each cell of this cover, any two states, as well as their future states reached by the same system trajectories, satisfy the binary relation. We demonstrate the developed general framework on a reduction problem in state estimation.
{"title":"On Consistent Reduction in Discrete-Event Systems","authors":"Kai Cai, A. Giua, C. Seatzu","doi":"10.1109/COASE.2019.8843091","DOIUrl":"https://doi.org/10.1109/COASE.2019.8843091","url":null,"abstract":"In this paper we develop a general framework, called “consistent reduction” for formalizing and solving a class of minimization/reduction problems in discrete-event systems. Given an arbitrary finite-state automaton and a binary relation on its state set, we propose a consistent reduction procedure that generates a reduced automaton, preserving certain special properties of the original automaton. The key concept of the consistent reduction procedure is the reduction cover; in each cell of this cover, any two states, as well as their future states reached by the same system trajectories, satisfy the binary relation. We demonstrate the developed general framework on a reduction problem in state estimation.","PeriodicalId":6695,"journal":{"name":"2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)","volume":"30 1","pages":"474-479"},"PeriodicalIF":0.0,"publicationDate":"2019-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72836247","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 : 2019-08-01DOI: 10.1109/COASE.2019.8843206
Longsheng Jiang, Yue Wang
Often, when modeling human decision-making behaviors in the context of human-robot teaming, the emotion aspect of human is ignored. Nevertheless, the influence of emotion, in some cases, is not only undeniable but beneficial. This work studies the human-like characteristics brought by regret emotion in one-human-multirobot teaming for the application of domain search. In such applications, the task management load is outsourced to the robots to reduce the human’s workload, freeing the human to do more important work. The regret decision model is first used by each robot for deciding whether to request human service, then is extended for optimally queuing the requests from multiple robots. For the movement of the robots in the domain search, we designed a path planning algorithm based on dynamic programming for each robot. The simulation shows that the human-like characteristics, namely, risk-seeking and risk-aversion, indeed bring some appealing effects for balancing the workload and performance in the human-multi-robot team.
{"title":"Respect Your Emotion: Human-Multi-Robot Teaming based on Regret Decision Model","authors":"Longsheng Jiang, Yue Wang","doi":"10.1109/COASE.2019.8843206","DOIUrl":"https://doi.org/10.1109/COASE.2019.8843206","url":null,"abstract":"Often, when modeling human decision-making behaviors in the context of human-robot teaming, the emotion aspect of human is ignored. Nevertheless, the influence of emotion, in some cases, is not only undeniable but beneficial. This work studies the human-like characteristics brought by regret emotion in one-human-multirobot teaming for the application of domain search. In such applications, the task management load is outsourced to the robots to reduce the human’s workload, freeing the human to do more important work. The regret decision model is first used by each robot for deciding whether to request human service, then is extended for optimally queuing the requests from multiple robots. For the movement of the robots in the domain search, we designed a path planning algorithm based on dynamic programming for each robot. The simulation shows that the human-like characteristics, namely, risk-seeking and risk-aversion, indeed bring some appealing effects for balancing the workload and performance in the human-multi-robot team.","PeriodicalId":6695,"journal":{"name":"2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)","volume":"115 1","pages":"936-941"},"PeriodicalIF":0.0,"publicationDate":"2019-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75225108","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 : 2019-08-01DOI: 10.1109/COASE.2019.8843181
Yudai Yamada, R. Fukui, S. Warisawa, Eiichi Morioka, Masaaki Uetake, Shin’ichi Terada
During excavation, the disc cutter (DC) of a tunnel boring machine (TBM) will experience wear. WInBot, a DC wear inspection robot, is developed for 5 m-diameter-class TBMs and two wear measurement methods are proposed. WInBot has a high expansion ratio actuator to allow operation in the narrow space around the cutter head. The measurement arm can extend widely and can be compacted 2.7 and 1.5 times for vertical and horizontal expansion and contraction ratios, respectively. WInBot acquires point cloud data for a DC surface or other parts and estimates the amount of DC wear using an iterative closest point matching algorithm. Experiments are conducted to examine the accuracy of the proposed measurement methods. When only DC surface data is used, the estimation accuracy drops when the DC is severely worn and its geometric features disappear. The other method, which uses additional parts, is resistant to the difference in DC wear and achieves measurements accurate to 1 mm.
{"title":"WInBot: A Disc Cutter Wear Inspection Robot for a Tunnel Boring Machine","authors":"Yudai Yamada, R. Fukui, S. Warisawa, Eiichi Morioka, Masaaki Uetake, Shin’ichi Terada","doi":"10.1109/COASE.2019.8843181","DOIUrl":"https://doi.org/10.1109/COASE.2019.8843181","url":null,"abstract":"During excavation, the disc cutter (DC) of a tunnel boring machine (TBM) will experience wear. WInBot, a DC wear inspection robot, is developed for 5 m-diameter-class TBMs and two wear measurement methods are proposed. WInBot has a high expansion ratio actuator to allow operation in the narrow space around the cutter head. The measurement arm can extend widely and can be compacted 2.7 and 1.5 times for vertical and horizontal expansion and contraction ratios, respectively. WInBot acquires point cloud data for a DC surface or other parts and estimates the amount of DC wear using an iterative closest point matching algorithm. Experiments are conducted to examine the accuracy of the proposed measurement methods. When only DC surface data is used, the estimation accuracy drops when the DC is severely worn and its geometric features disappear. The other method, which uses additional parts, is resistant to the difference in DC wear and achieves measurements accurate to 1 mm.","PeriodicalId":6695,"journal":{"name":"2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)","volume":"31 1","pages":"1837-1843"},"PeriodicalIF":0.0,"publicationDate":"2019-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76892154","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 : 2019-08-01DOI: 10.1109/COASE.2019.8842891
Yunyi Kang, Feng Ju
In this paper, we develop a decision-making framework for real-time production control considering the condition variation of robotic arms. Specifically, the temperature dynamics of robotic arms under different operation conditions is analyzed to assess the robotic arm’s health status. Statistical models based on the observation of real-time information is firstly built to characterize the relationship between the robot temperature and time, considering various operation modes (i.e., capacity, working mode, speed). Then a loading process using the robotic arm is investigated and a continuous space Markov decision model is formulated to minimize the total processing time for a limited batch of products with different types. Numerical studies suggest that the performance of the proposed method is significantly better than the benchmark plans. Such a study reflects the necessity of joint consideration on the health condition of production assets together with production control, to maintain high productivity and utilization of the assets in production systems.
{"title":"Joint Optimization of Operating Mode and Part Sequence for Robot Loading Process Considering Real-time Health Condition","authors":"Yunyi Kang, Feng Ju","doi":"10.1109/COASE.2019.8842891","DOIUrl":"https://doi.org/10.1109/COASE.2019.8842891","url":null,"abstract":"In this paper, we develop a decision-making framework for real-time production control considering the condition variation of robotic arms. Specifically, the temperature dynamics of robotic arms under different operation conditions is analyzed to assess the robotic arm’s health status. Statistical models based on the observation of real-time information is firstly built to characterize the relationship between the robot temperature and time, considering various operation modes (i.e., capacity, working mode, speed). Then a loading process using the robotic arm is investigated and a continuous space Markov decision model is formulated to minimize the total processing time for a limited batch of products with different types. Numerical studies suggest that the performance of the proposed method is significantly better than the benchmark plans. Such a study reflects the necessity of joint consideration on the health condition of production assets together with production control, to maintain high productivity and utilization of the assets in production systems.","PeriodicalId":6695,"journal":{"name":"2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)","volume":"10 3","pages":"48-53"},"PeriodicalIF":0.0,"publicationDate":"2019-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91521157","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 : 2019-08-01DOI: 10.1109/COASE.2019.8843096
Alfredo Bayuelo, Tauhidul Alam, Leonardo Bobadilla, Fernando Niño, Ryan N. Smith
Computing plans for systems with differential constraints is a fundamental component in numerous robotic applications. Most previous approaches are based on creating motion plans between an initial and a goal location. However, a more robust approach is to compute feedback plans over the entire configuration space to account for uncertainty in the robot’s motions. In this paper, we therefore propose a new method that constructs a feedback plan by incrementally composing the long-term behavior of the robot’s motions for a set of actions. Our method takes advantage of dynamical system analysis techniques and efficient combinatorial algorithms. We implement our method in simulations considering a robot under a simple bouncing behavior. A feedback plan for the robot to reach the goal region starting from any location of an environment is successfully constructed using the implementation of our method. Our method is also applicable to non-linear systems with uncertainty.
{"title":"Computing Feedback Plans from Dynamical System Composition","authors":"Alfredo Bayuelo, Tauhidul Alam, Leonardo Bobadilla, Fernando Niño, Ryan N. Smith","doi":"10.1109/COASE.2019.8843096","DOIUrl":"https://doi.org/10.1109/COASE.2019.8843096","url":null,"abstract":"Computing plans for systems with differential constraints is a fundamental component in numerous robotic applications. Most previous approaches are based on creating motion plans between an initial and a goal location. However, a more robust approach is to compute feedback plans over the entire configuration space to account for uncertainty in the robot’s motions. In this paper, we therefore propose a new method that constructs a feedback plan by incrementally composing the long-term behavior of the robot’s motions for a set of actions. Our method takes advantage of dynamical system analysis techniques and efficient combinatorial algorithms. We implement our method in simulations considering a robot under a simple bouncing behavior. A feedback plan for the robot to reach the goal region starting from any location of an environment is successfully constructed using the implementation of our method. Our method is also applicable to non-linear systems with uncertainty.","PeriodicalId":6695,"journal":{"name":"2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)","volume":"10 1","pages":"1175-1180"},"PeriodicalIF":0.0,"publicationDate":"2019-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90848725","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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