| 1. |
- Ahlberg, Sofie, et al.
(författare)
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Co-adaptive Human-Robot Cooperation : Summary and Challenges
- 2022
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Ingår i: Unmanned Systems. - : World Scientific Pub Co Pte Ltd. - 2301-3850 .- 2301-3869. ; 10:02, s. 187-203
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Tidskriftsartikel (refereegranskat)abstract
- The work presented here is a culmination of developments within the Swedish project COIN: Co-adaptive human-robot interactive systems, funded by the Swedish Foundation for Strategic Research (SSF), which addresses a unified framework for co-adaptive methodologies in human-robot co-existence. We investigate co-adaptation in the context of safe planning/control, trust, and multi-modal human-robot interactions, and present novel methods that allow humans and robots to adapt to one another and discuss directions for future work.
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| 2. |
- Baran, Robin, et al.
(författare)
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A ROS Package for Human-In-the-Loop Planning and Control under Linear Temporal Logic Tasks
- 2021
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Ingår i: IEEE International Conference on Automation Science and Engineering. - : Institute of Electrical and Electronics Engineers (IEEE). ; , s. 2182-2187
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Konferensbidrag (refereegranskat)abstract
- In this paper, we propose a ROS software package for planning and control of robotic systems with a human-in-the-Ioop focus. The software uses temporal logic specifications, specifically Linear Temporal Logic, for a language-based method to develop correct-by-design high level robot plans. The approach is structured to allow a human to adjust the high-level plan online. A human may also take control of the robot (in a low-level control fashion), but the software prevents the human from implementing dangerous behaviour that would violate the high-level task specification. Finally, the planner is able to learn human-preferred high-level tasks by tracking human low-level control inputs in an inverse learning framework. The proposed approach is demonstrated in a warehouse setting with multiple robot agents to showcase the efficacy of the proposed solution.
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| 3. |
- Gao, Yulong, et al.
(författare)
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Robust self-triggered control for time-varying and uncertain constrained systems via reachability analysis
- 2019
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Ingår i: Automatica. - : PERGAMON-ELSEVIER SCIENCE LTD. - 0005-1098 .- 1873-2836. ; 107, s. 574-581
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Tidskriftsartikel (refereegranskat)abstract
- This paper develops a robust self-triggered control algorithm for time-varying and uncertain systems with constraints based on reachability analysis. The resulting piecewise constant control inputs achieve communication reduction and guarantee constraint satisfactions. In the particular case when there is no uncertainty, we propose a control design with minimum number of samplings over finite time horizon. Furthermore, when the plant is linear and the constraints are polyhedral, we prove that the previous algorithms can be reformulated as computationally tractable mixed integer linear programs. The method is compared with the robust self-triggered model predictive control in a numerical example and applied to a robot motion planning problem with temporal constraints.
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| 4. |
- Kasliwal, Mansi M., et al.
(författare)
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Kilonova Luminosity Function Constraints Based on Zwicky Transient Facility Searches for 13 Neutron Star Merger Triggers during O3
- 2020
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Ingår i: Astrophysical Journal. - : American Astronomical Society. - 0004-637X .- 1538-4357. ; 905:2
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Tidskriftsartikel (refereegranskat)abstract
- We present a systematic search for optical counterparts to 13 gravitational wave (GW) triggers involving at least one neutron star during LIGO/Virgo's third observing run (O3). We searched binary neutron star (BNS) and neutron star black hole (NSBH) merger localizations with the Zwicky Transient Facility (ZTF) and undertook follow-up with the Global Relay of Observatories Watching Transients Happen (GROWTH) collaboration. The GW triggers had a median localization area of 4480 deg(2), a median distance of 267 Mpc, and false-alarm rates ranging from 1.5 to 10(-25) yr(-1). The ZTF coverage in the g and r bands had a median enclosed probability of 39%, median depth of 20.8 mag, and median time lag between merger and the start of observations of 1.5 hr. The O3 follow-up by the GROWTH team comprised 340 UltraViolet/Optical/InfraRed (UVOIR) photometric points, 64 OIR spectra, and three radio images using 17 different telescopes. We find no promising kilonovae (radioactivity-powered counterparts), and we show how to convert the upper limits to constrain the underlying kilonova luminosity function. Initially, we assume that all GW triggers are bona fide astrophysical events regardless of false-alarm rate and that kilonovae accompanying BNS and NSBH mergers are drawn from a common population; later, we relax these assumptions. Assuming that all kilonovae are at least as luminous as the discovery magnitude of GW170817 (-16.1 mag), we calculate that our joint probability of detecting zero kilonovae is only 4.2%. If we assume that all kilonovae are brighter than -16.6 mag (the extrapolated peak magnitude of GW170817) and fade at a rate of 1 mag day(-1) (similar to GW170817), the joint probability of zero detections is 7%. If we separate the NSBH and BNS populations based on the online classifications, the joint probability of zero detections, assuming all kilonovae are brighter than -16.6 mag, is 9.7% for NSBH and 7.9% for BNS mergers. Moreover, no more than <57% (<89%) of putative kilonovae could be brighter than -16.6 mag assuming flat evolution (fading by 1 mag day(-1)) at the 90% confidence level. If we further take into account the online terrestrial probability for each GW trigger, we find that no more than <68% of putative kilonovae could be brighter than -16.6 mag. Comparing to model grids, we find that some kilonovae must have M-ej M, X-lan > 10(-4), or > 30 degrees to be consistent with our limits. We look forward to searches in the fourth GW observing run; even 17 neutron star mergers with only 50% coverage to a depth of -16 mag would constrain the maximum fraction of bright kilonovae to <25%.
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| 5. |
- Perley, Daniel A., et al.
(författare)
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The fast, luminous ultraviolet transient AT2018cow : extreme supernova, or disruption of a star by an intermediate-mass black hole?
- 2019
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Ingår i: Monthly notices of the Royal Astronomical Society. - : Oxford University Press (OUP). - 0035-8711 .- 1365-2966. ; 484:1, s. 1031-1049
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Tidskriftsartikel (refereegranskat)abstract
- Wide-field optical surveys have begun to uncover large samples of fast (t(rise) less than or similar to 5 d), luminous (M-peak < 18), blue transients. While commonly attributed to the breakout of a supernova shock into a dense wind, the great distances to the transients of this class found so far have hampered detailed investigation of their properties. We present photometry and spectroscopy from a comprehensive worldwide campaign to observe AT 2018cow (ATLAS 18qqn), the first fast-luminous optical transient to be found in real time at low redshift. Our first spectra (<2 days after discovery) are entirely featureless. A very broad absorption feature suggestive of near-relativistic velocities develops between 3 and 8 days, then disappears. Broad emission features of H and He develop after >10 days. The spectrum remains extremely hot throughout its evolution, and the photospheric radius contracts with time (receding below R < 10 (14) cm after 1 month). This behaviour does not match that of any known supernova, although a relativistic jet within a fallback supernova could explain some of the observed features. Alternatively, the transient could originate from the disruption of a star by an intermediate-mass black hole, although this would require long-lasting emission of highly super-Eddington thermal radiation. In either case, AT 2018cow suggests that the population of fast luminous transients represents a new class of astrophysical event. Intensive follow-up of this event in its late phases, and of any future events found at comparable distance, will be essential to better constrain their origins.
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| 6. |
- Raiteri, C. M., et al.
(författare)
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WEBT and XMM-Newton observations of 3C 454.3 during the post-outburst phase - Detection of the little and big blue bumps
- 2007
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Ingår i: Astronomy and Astrophysics. - : EDP Sciences. - 0004-6361 .- 1432-0746. ; 473:3, s. 819-827
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Tidskriftsartikel (refereegranskat)abstract
- Context. The quasar-type blazar 3C 454.3 was observed to undergo an unprecedented optical outburst in spring 2005, affecting the source brightness from the near-IR to the X-ray frequencies. This was first followed by a millimetric and then by a radio outburst, which peaked in February 2006. Aims. In this paper we report on follow-up observations to study the multiwavelength emission in the post-outburst phase. Methods. Radio, near-infrared, and optical monitoring was performed by the Whole Earth Blazar Telescope (WEBT) collaboration in the 2006-2007 observing season. XMM-Newton observations on July 2-3 and December 18-19, 2006 added information on the X-ray and UV states of the source. Results. The source was in a faint state. The radio flux at the higher frequencies showed a fast decreasing trend, which represents the tail of the big radio outburst. It was followed by a quiescent state, common at all radio frequencies. In contrast, moderate activity characterized the near-IR and optical light curves, with a progressive increase of the variability amplitude with increasing wavelength. We ascribe this redder-when-brighter behaviour to the presence of a ""little blue bump"" due to line emission from the broad line region, which is clearly visible in the source spectral energy distribution (SED) during faint states. Moreover, the data from the XMM- Newton Optical Monitor reveal a rise of the SED in the ultraviolet, suggesting the existence of a "" big blue bump"" due to thermal emission from the accretion disc. The X-ray spectra are well fitted with a power- law model with photoelectric absorption, possibly larger than the Galactic one. However, the comparison with previous X-ray observations would imply that the amount of absorbing matter is variable. Alternatively, the intrinsic X-ray spectrum presents a curvature, which may depend on the X-ray brightness. In this case, two scenarios are possible. i) There is no extra absorption, and the X-ray spectrum hardens at low energies, the hardening being more evident in bright states; ii) there is a constant amount of extra absorption, likely in the quasar environment, and the X-ray spectrum softens at low energies, at least in faint X-ray states. This softening might be the result of a flux contribution by the high-frequency tail of the big blue bump.
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| 7. |
- Seidel, Marc, et al.
(författare)
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A Window-Based Periodic Event-Triggered Consensus Scheme for Multiagent Systems
- 2024
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Ingår i: IEEE Transactions on Control of Network Systems. - : Institute of Electrical and Electronics Engineers (IEEE). - 2325-5870. ; 11:1, s. 414-426
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Tidskriftsartikel (refereegranskat)abstract
- In this article, we consider the periodic event-triggered consensus problem for single-integrator multiagent systems. In existing approaches, consensus is typically achieved by trigger schemes enforcing a monotone decrease of a Lyapunov function. Such trigger schemes may, however, result in more transmissions than are actually required to ensure consensus or meet certain performance specifications. This is because a monotone decrease may be a rather conservative condition for a given Lyapunov function in an event-triggered setting. To overcome the conservativity, we propose a novel window-based trigger scheme, which allows us to leverage existing trigger schemes from the literature to derive less conservative ones. This is achieved by taking the past system behavior into account and allowing a temporary increase of the Lyapunov function as long as a decreasing tendency is still guaranteed. For that, information from previous time steps within certain time windows is considered. We provide an explicit bound on the evolution of the Lyapunov function that is the same for the window-based scheme and the (monotone) original trigger schemes. To illustrate the benefits of the window-based scheme, we validate its efficacy through a comprehensive simulation study and demonstrate that the scheme typically reduces the average update rate of the underlying communication structure in comparison to the original trigger schemes.
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| 8. |
- Yu, Pian, et al.
(författare)
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A fully distributed motion coordination strategy for multi-robot systems with local information
- 2020
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Ingår i: Proceedings 2020 American Control Conference, ACC 2020. - : Institute of Electrical and Electronics Engineers (IEEE). ; , s. 1859-1864
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Konferensbidrag (refereegranskat)abstract
- This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace. Based on the realistic assumptions that each robot is subject to both velocity and input constraints and can have only local view and local information, a fully distributed multi-robot motion coordination strategy is proposed. Building on top of a cell decomposition, a conflict detection algorithm is presented first. Then, a rule is proposed to assign dynamically a planning order to each pair of neighboring robots, which is deadlock-free. Finally, a two-step motion planning process that combines fixed-path planning and trajectory planning is designed. The effectiveness of the resulting solution is verified by a simulation example.
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| 9. |
- Yu, Pian, et al.
(författare)
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Approximately symbolic models for a class of continuous-time nonlinear systems
- 2019
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Ingår i: Proceedings of the IEEE Conference on Decision and Control. - : Institute of Electrical and Electronics Engineers (IEEE). ; , s. 4349-4354
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Konferensbidrag (refereegranskat)abstract
- Discrete abstractions have become a standard approach to assist control synthesis under complex specifications. Most techniques for the construction of discrete abstractions are based on sampling of both the state and time spaces, which may not be able to guarantee safety for continuous-time systems. In this work, we aim at addressing this problem by considering only state-space abstraction. Firstly, we connect the continuous-time concrete system with its discrete (state-space) abstraction with a control interface. Then, a novel stability notion called controlled globally asymptotic/practical stability with respect to a set is proposed. It is shown that every system, under the condition that there exists an admissible control interface such that the augmented system (composed of the concrete system and its abstraction) can be made controlled globally practically stable with respect to the given set, is approximately simulated by its discrete abstraction. The effectiveness of the proposed results is illustrated by a simulation example.
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| 10. |
- Yu, Pian, et al.
(författare)
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Continuous-Time Control Synthesis Under Nested Signal Temporal Logic Specifications
- 2024
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Ingår i: IEEE Transactions on robotics. - : Institute of Electrical and Electronics Engineers (IEEE). - 1552-3098 .- 1941-0468. ; 40, s. 2272-2286
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Tidskriftsartikel (refereegranskat)abstract
- In this work, we propose a novel approach for the continuous-time control synthesis of nonlinear systems under nested signal temporal logic (STL) specifications. While the majority of existing literature focuses on control synthesis for STL specifications without nested temporal operators, addressing nested temporal operators poses a notably more challenging scenario and requires new theoretical advancements. Our approach hinges on the concepts of STL tree (sTLT) and control barrier function (CBF). Specifically, we detail the construction of an sTLT from a given STL formula and a continuous-time dynamical system, the sTLT semantics (i.e., satisfaction condition), and the equivalence or underapproximation relation between sTLT and STL. Leveraging the fact that the satisfaction condition of an sTLT is essentially keeping the state within certain sets during certain time intervals, it provides explicit guidelines for the CBF design. The resulting controller is obtained through the utilization of an online CBF-based program coupled with an event-triggered scheme for online updating the activation time interval of each CBF, with which the correctness of the system behavior can be established by construction. We demonstrate the efficacy of the proposed method for single-integrator and unicycle models under nested STL formulas.
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