| 1. |
- Butepage, Judith, et al.
(författare)
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From Visual Understanding to Complex Object Manipulation
- 2019
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Ingår i: Annual Review of Control, Robotics, and Autonomous Systems. - : Annual Reviews. - 2573-5144. ; 2, s. 161-179
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Forskningsöversikt (refereegranskat)abstract
- Planning and executing object manipulation requires integrating multiple sensory and motor channels while acting under uncertainty and complying with task constraints. As the modern environment is tuned for human hands, designing robotic systems with similar manipulative capabilities is crucial. Research on robotic object manipulation is divided into smaller communities interested in, e.g., motion planning, grasp planning, sensorimotor learning, and tool use. However, few attempts have been made to combine these areas into holistic systems. In this review, we aim to unify the underlying mechanics of grasping and in-hand manipulation by focusing on the temporal aspects of manipulation, including visual perception, grasp planning and execution, and goal-directed manipulation. Inspired by human manipulation, we envision that an emphasis on the temporal integration of these processes opens the way for human-like object use by robots.
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| 2. |
- Sandberg, Henrik, et al.
(författare)
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Secure Networked Control Systems
- 2022
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Ingår i: ANNUAL REVIEW OF CONTROL ROBOTICS AND AUTONOMOUS SYSTEMS. - : Annual Reviews. - 2573-5144. ; 5:1, s. 445-464
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Forskningsöversikt (refereegranskat)abstract
- Cyber-vulnerabilities are being exploited in a growing number of control systems. As many of these systems form the backbone of critical infrastructure and are becoming more automated and interconnected, it is of the utmost importance to develop methods that allow system designers and operators to do risk analysis and develop mitigation strategies. Over the last decade, great advances have been made in the control systems community to better understand cyber-threats and their potential impact. This article provides an overview of recent literature on secure networked control systems. Motivated by recent cyberattacks on the power grid, connected road vehicles, and process industries, a system model is introduced that covers many of the existing research studies on control system vulnerabilities. An attack space is introduced that illustrates how adversarial resources are allocated in some common attacks. The main part of the article describes three types of attacks: false data injection, replay, and denial-of-service attacks. Representative models andmathematical formulations of these attacks are given along with some proposed mitigation strategies. The focus is on linear discrete-time plant models, but various extensions are presented in the final section, which also mentions some interesting research problems for future work.
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| 3. |
- Wills, Adrian G., et al.
(författare)
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Sequential Monte Carlo : A Unified Review
- 2023
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Ingår i: ANNUAL REVIEW OF CONTROL ROBOTICS AND AUTONOMOUS SYSTEMS. - : ANNUAL REVIEWS. - 2573-5144. ; 6, s. 159-182
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Forskningsöversikt (refereegranskat)abstract
- Sequential Monte Carlo methods-also known as particle filters-offer approximate solutions to filtering problems for nonlinear state-space systems. These filtering problems are notoriously difficult to solve in general due to a lack of closed-form expressions and challenging expectation integrals. The essential idea behind particle filters is to employ Monte Carlo integration techniques in order to ameliorate both of these challenges. This article presents an intuitive introduction to the main particle filter ideas and then unifies three commonly employed particle filtering algorithms. This unified approach relies on a nonstandard presentation of the particle filter, which has the advantage of highlighting precisely where the differences between these algorithms stem from. Some relevant extensions and successful application domains of the particle filter are also presented.
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| 4. |
- Ögren, Petter, 1974-, et al.
(författare)
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Behavior Trees in Robot Control Systems
- 2022
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Ingår i: Annual Review of Control, Robotics, and Autonomous Systems. - : Annual Reviews. - 2573-5144 .- 2573-5144. ; 5:1, s. 81-107
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Tidskriftsartikel (refereegranskat)abstract
- In this article, we provide a control-theoretic perspective on the research area of behavior trees in robotics. The key idea underlying behavior trees is to make use of modularity, hierarchies, and feedback in order to handle the complexity of a versatile robot control system. Modularity is a well-known tool to handle software complexity by enabling the development, debugging, and extension of separate modules without detailed knowledge of the entire system. A hierarchy of such modules is natural, since robot tasks can often be decomposed into a hierarchy of subtasks. Finally, feedback control is a fundamental tool for handling uncertainties and disturbances in any low-level control system, but in order to enable feedback control on the higher level, where one module decides what submodule to execute, information regarding the progress and applicability of each submodule needs to be shared in the module interfaces. We describe how these three concepts can be used in theoretical analysis, practical design, and extensions and combinations with other ideas from control theory and robotics.
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