RI: Small: Collaborative Research: Extracting Dynamics from Limited Data for Modeling and Control of Unmanned Autonomous Systems

RI：小型：协作研究：从有限数据中提取动力学，用于无人自主系统的建模和控制

• 批准号: 1910087
• 负责人: Konstantinos Karydis
• 金额: $ 27万
• 依托单位: University of California-Riverside
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2019
• 资助国家: 美国
• 起止时间: 2019-08-01 至 2023-07-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1910087&HistoricalAwards=false
• 关键词: RI; Small; Collaborative; Research; Extracting

Autonomous robots can contribute to many real-world applications, such as emergency response and search-and-rescue. For some applications, however, the cost of deploying large robots may be too high, and small robots are preferred. A common issue with such small robots is navigating reliably in the presence of uncertainty. Current robot modeling and control approaches cannot capture the intricacies imposed by the effect of uncertainty at small scales. In addition, the small size restricts sensor and computational payloads, which limit the robot's perceptual and control capabilities. This project introduces a data-driven modeling framework to quantify and exploit uncertainty via control for reliable navigation of small robots. The project enables undergraduate students to become involved in research, and capitalizes on the student diversity at UC Riverside, a Hispanic-serving Institution, to broaden participation of under-represented groups. This project investigates the mechanisms that uncertainties in robot-environment interactions affect robot behavior. Small robot motion is more stochastic since errors at the actuators and uncertain interactions with the environment amplify errors in pose. The goal is to introduce a platform-agnostic, data-driven modeling framework to quantify uncertainty and subsequently exploit it via control for reliable robot navigation under uncertainty. The specific aims are to: 1) extract dynamics using limited data for modeling uncertain systems; 2) synthesize uncertainty-aware model-based controllers based on derived reduced-order models; and 3) test and validate theoretical analysis and derived models and control algorithms with aerial, ground, and marine robots. Spectral methods are used to extract spatio-temporal dynamics and to quantify uncertainty. A model-reference adaptive control scheme utilizes extracted dynamics and uncertainty for reliable robot navigation. While the basic principles developed in this research are grounded on small robots, this project's findings may generalize to larger robots with limited sensing and noisy actuation.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

自主机器人可以为许多现实世界的应用做出贡献，例如紧急响应和搜索和救援。 然而，对于某些应用，部署大型机器人的成本可能太高，小型机器人是优选的。这种小型机器人的一个常见问题是在存在不确定性的情况下可靠地导航。目前的机器人建模和控制方法不能捕捉的复杂性所施加的影响，在小尺度上的不确定性。此外，小尺寸限制了传感器和计算有效载荷，这限制了机器人的感知和控制能力。该项目引入了一个数据驱动的建模框架，通过控制来量化和利用不确定性，以实现小型机器人的可靠导航。该项目使本科生能够参与研究，并利用加州大学滨江，一个西班牙裔服务机构的学生多样性，以扩大代表性不足的群体的参与。本计画探讨机器人与环境互动中的不确定性影响机器人行为的机制。小型机器人的运动是更加随机的，因为在致动器的错误和不确定的相互作用与环境放大错误的姿态。我们的目标是引入一个平台无关的，数据驱动的建模框架来量化不确定性，并随后通过控制来利用它在不确定性下进行可靠的机器人导航。具体目标是：1）使用有限的数据提取动力学，用于对不确定系统建模; 2）基于导出的降阶模型合成不确定性感知的基于模型的控制器; 3）使用空中、地面和海上机器人测试和验证理论分析、导出的模型和控制算法。谱方法用于提取时空动态和量化不确定性。模型参考自适应控制方案利用提取的动态和不确定性，可靠的机器人导航。虽然这项研究中开发的基本原理是基于小型机器人，但该项目的发现可能会推广到传感有限和噪音驱动的大型机器人。该奖项反映了NSF的法定使命，并通过使用基金会的智力价值和更广泛的影响审查标准进行评估，被认为值得支持。

项目成果

ACD-EDMD: Analytical Construction for Dictionaries of Lifting Functions in Koopman Operator-Based Nonlinear Robotic Systems

• DOI: 10.1109/lra.2021.3133001
• 发表时间: 2021-11
• 期刊: IEEE Robotics and Automation Letters
• 影响因子: 5.2
• 作者: Lu Shi;Konstantinos Karydis

Position Control and Variable-Height Trajectory Tracking of a Soft Pneumatic Legged Robot

软体气动腿机器人的位置控制和可变高度轨迹跟踪

• DOI: 10.1109/iros51168.2021.9635966
• 发表时间: 2021
• 期刊: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS
• 作者: Liu, Zhichao;Karydis, Konstantinos
• 通讯作者: Karydis, Konstantinos

Optimal Steering of Stochastic Mobile Robots that Undergo Collisions with their Environment

与环境发生碰撞的随机移动机器人的最优转向

• DOI: 10.1109/robio49542.2019.8961434
• 发表时间: 2019
• 期刊: Optimal Steering of Stochastic Mobile Robots that Undergo Collisions with their Environment
• 作者: Lu, Zhouyu;Karydis, Konstantinos
• 通讯作者: Karydis, Konstantinos

Contact-Prioritized Planning of Impact-Resilient Aerial Robots With an Integrated Compliant Arm

• DOI: 10.1109/tmech.2023.3277811
• 发表时间: 2023-06-19
• 期刊: IEEE-ASME TRANSACTIONS ON MECHATRONICS
• 影响因子: 6.4
• 作者: Liu，Zhichao;Lu，Zhouyu;Karydis，Konstantinos
• 通讯作者: Karydis，Konstantinos

Dynamic Modeling and Analysis of Impact-resilient MAVs Undergoing High-speed and Large-angle Collisions with the Environment

与环境高速大角度碰撞的抗冲击微型飞行器的动态建模与分析

• 发表时间: 2023
• 期刊: 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS
• 作者: Liu, Z.;Karydis, K.
• 通讯作者: Karydis, K.