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CPS: Small: Cyber-Physical Communication for Cooperative Human-Robot Mobility

CPS：小型：用于协作人机移动的网络物理通信

基本信息

批准号：
1739525
负责人：
Ella Atkins
金额：
$ 50万
依托单位：
Regents of the University of Michigan - Ann Arbor
依托单位国家：
美国
项目类别：
Standard Grant
财政年份：
2017
资助国家：
美国
起止时间：
2017-09-01 至 2021-08-31
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=1739525&HistoricalAwards=false
关键词：
CPS Small Cyber Physical Communication

项目摘要

Human-robot teams engaged in transportation and data collection will often share a common physical workspace. This project will investigate fundamental challenges in human-cyberphysical-systems (h-CPS) for cooperative aerial payload transport. First, Unmanned Aerial Vehicles (UAVs) cooperatively lift and carry a payload through a cluttered environment under uncertain winds. The multi-UAV system (MUS) functions autonomously to allow human companions to focus attention on their environment while interacting with the MUS. We propose a novel interface where an operator pushes on the slung payload to guide the team and coordinates the mission through a networked tablet. A novel cooperative control strategy safely guides the MUS while physics-based algorithms distinguish human inputs from environmental disturbances. Flight tests will demonstrate and validate the h-CPS. The PI and mentored postdoctoral researcher will involve students from under-represented groups and K-12 students in safe MUS flight demonstrations.This project offers three research advances: MUS scalability and collision avoidance guarantees through continuum deformation cooperative control, safe MUS compensation for vehicle anomalies, and cognitively-tractable user interfaces. Particularly novel to this work is the h-CPS interface in which an operator pushes on the payload to guide the MUS team. We will apply linear momentum analysis to sense haptic cues and will validate our models in simulation and flight testing. Mission-level decision-making will be performed through system modeling as a Markov game in which game states are de&#64257;ned from human, environment, and aggregate MUS state. Our method abstracts MUS behaviors to reduce cognitive complexity and real-time network and computational overhead.

从事运输和数据收集的人机团队通常会共享一个共同的物理工作空间。该项目将调查人类网络物理系统（h-CPS）合作空中有效载荷运输的基本挑战。首先，无人机（UAV）在不确定的风下协同提升和携带有效载荷通过杂乱的环境。多无人机系统（MUS）的功能自主，让人类的同伴集中注意力在他们的环境，同时与MUS。我们提出了一种新颖的界面，操作员推动的吊索有效载荷，引导团队和协调的使命通过联网的平板电脑。一种新的合作控制策略安全地指导MUS，而基于物理的算法区分人类输入环境干扰。飞行试验将演示和验证h-CPS。 PI和指导的博士后研究员将参与来自代表性不足的群体和K-12学生的安全MUS飞行演示。该项目提供了三个研究进展：通过连续变形协同控制的MUS可扩展性和防撞保证，对车辆异常的安全MUS补偿，以及认知易处理的用户界面。这项工作特别新颖的是h-CPS接口，其中操作员推动有效载荷来引导MUS团队。我们将应用线性动量分析来感知触觉提示，并将在仿真和飞行测试中验证我们的模型。任务级决策将通过系统建模作为马尔可夫博弈来执行，其中博弈状态是从人类、环境和聚合MUS状态中定义的。我们的方法抽象MUS行为，以减少认知复杂性和实时网络和计算开销。

项目成果

期刊论文数量（7）

专著数量（0）

科研奖励数量（0）

会议论文数量（0）

专利数量（0）

Formal Specification of Continuum Deformation Coordination

DOI：
10.23919/acc.2019.8814645
发表时间：
2019-07
期刊：
2019 American Control Conference (ACC)
影响因子：
0
作者：
H. Rastgoftar;Jean-Baptiste Jeannin;E. Atkins
通讯作者：
H. Rastgoftar;Jean-Baptiste Jeannin;E. Atkins

Experimental Evaluation of Continuum Deformation with a Five Quadrotor Team

DOI：
10.23919/acc.2019.8815266
发表时间：
2018-09
期刊：
2019 American Control Conference (ACC)
影响因子：
0
作者：
Matthew Romano;Prince Kuevor;Derek Lukacs;Owen Marshall;Mia N. Stevens;H. Rastgoftar;J. Cutler;E. Atkins
通讯作者：
Matthew Romano;Prince Kuevor;Derek Lukacs;Owen Marshall;Mia N. Stevens;H. Rastgoftar;J. Cutler;E. Atkins

Nailed It: Autonomous Roofing with a Nailgun-Equipped Octocopter

成功了：使用配备钉枪的八轴飞行器实现自主屋顶