| 1. |
- Duberg, Daniel, et al.
(författare)
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The Obstacle-restriction Method for Tele-operation of Unmanned Aerial Vehicles with Restricted Motion
- 2018
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Ingår i: 2018 15TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION (ICARCV). - : IEEE. - 9781538695821 ; , s. 266-273
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Konferensbidrag (refereegranskat)abstract
- This paper presents a collision avoidance method for tele-operated unmanned aerial vehicles (UAVs). The method is designed to assist the operator at all times, such that the operator can focus solely on the main objectives instead of avoiding obstacles. We restrict the altitude to be fixed in a three dimensional environment to simplify the control and operation of the UAV. The method contributes a number of desired properties not found in other collision avoidance systems for tele-operated UAVs. Our method i) can handle situations where there is no input from the user by actively stopping and proceeding to avoid obstacles, ii) allows the operator to slide between prioritizing staying away from objects and getting close to them in a safe way when so required, and iii) provides for intuitive control by not deviating too far from the control input of the operator. We demonstrate the effectiveness of the method in real world experiments with a physical hexacopter in different indoor scenarios. We also present simulation results where we compare controlling the UAV with and without our method activated.
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| 2. |
- Gao, Yulong, et al.
(författare)
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Stochastic Optimal Control of Dynamic Queue Systems : A Probabilistic Perspective
- 2018
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Ingår i: 2018 15TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION (ICARCV). - : IEEE. - 9781538695821 ; , s. 837-842
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Konferensbidrag (refereegranskat)abstract
- Queue overflow of a dynamic queue system gives rise to the information loss (or packet loss) in the communication buffer or the decrease of throughput in the transportation network. This paper investigates a stochastic optimal control problem for dynamic queue systems when imposing probability constraints on queue overflows. We reformulate this problem as a Markov decision process (MDP) with safety constraints. We prove that both finite-horizon and infinite-horizon stochastic optimal control for MDP with such constraints can be transformed as a linear program (LP), respectively. Feasibility conditions are provided for the finite-horizon constrained control problem. Two implementation algorithms are designed under the assumption that only the state (not the state distribution) can be observed at each time instant. Simulation results compare optimal cost and state distribution among different scenarios, and show the probability constraint satisfaction by the proposed algorithms.
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| 3. |
- Naber, Adam, 1988, et al.
(författare)
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Universal, Open Source, Myoelectric Interface for Assistive Devices
- 2018
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Ingår i: 2018 15TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION (ICARCV). - : IEEE. - 9781538695821 ; , s. 1585-1589
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Konferensbidrag (refereegranskat)abstract
- We present an integrated, open-source platform for the control of assistive vehicles. The system is vehicle-agnostic and can be controlled using a myoelectric interface to translate muscle contractions into vehicular commands. A modular shared-control system was used to enhance safety and ease of use, and three collision avoidance systems were included and verified in both an included test platform and on a quadcopter operating in a simulated environment. Seven subjects performed the experiments and rated the user experience of the system under each of the provided collision avoidance systems with positive results. Qualitative tests with the quadcopter validated the proposed system and shared-control techniques. This open-source platform for shared control between humans and machines integrates decoding of motor volition with control engineering to expedite further investigation into the operation of mobile robots.
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