发布求助
文献互助 智能选刊 最新文献

IEEE Robotics Autom. Mag.最新文献

筛选
英文 中文
Charting the Rapid Recent Commercialization of Robotics Technologies [Industry Activities] 绘制近期机器人技术迅速商业化的图表〔工业活动〕
IEEE Robotics Autom. Mag. Pub Date : 2023-03-01 DOI: 10.1109/mra.2023.3238210
Andra Keay
{"title":"Charting the Rapid Recent Commercialization of Robotics Technologies [Industry Activities]","authors":"Andra Keay","doi":"10.1109/mra.2023.3238210","DOIUrl":"https://doi.org/10.1109/mra.2023.3238210","url":null,"abstract":"","PeriodicalId":13196,"journal":{"name":"IEEE Robotics Autom. Mag.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76761426","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Peter Luh, the Father of Automation [In Memoriam] Peter Luh，自动化之父
IEEE Robotics Autom. Mag. Pub Date : 2023-03-01 DOI: 10.1109/mra.2023.3238256
F. Park, N. Viswanadham, Ken Goldberg, M. Wang, Yu Sun, Mengchu Zhou, B. Lennartson, Fan-Tien Cheng
{"title":"Peter Luh, the Father of Automation [In Memoriam]","authors":"F. Park, N. Viswanadham, Ken Goldberg, M. Wang, Yu Sun, Mengchu Zhou, B. Lennartson, Fan-Tien Cheng","doi":"10.1109/mra.2023.3238256","DOIUrl":"https://doi.org/10.1109/mra.2023.3238256","url":null,"abstract":"","PeriodicalId":13196,"journal":{"name":"IEEE Robotics Autom. Mag.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78199045","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Three New IEEE Robotics and Automation Society Standards Working Groups on Surgical Robotics and Electric Vehicle Charging Robots [Standards] IEEE机器人与自动化学会关于手术机器人和电动汽车充电机器人的三个新标准工作组
IEEE Robotics Autom. Mag. Pub Date : 2023-03-01 DOI: 10.1109/mra.2023.3237468
Lei Yang, Yifei Hu, Lihai Zhang, Peng Zhang, C. Schlenoff
{"title":"Three New IEEE Robotics and Automation Society Standards Working Groups on Surgical Robotics and Electric Vehicle Charging Robots [Standards]","authors":"Lei Yang, Yifei Hu, Lihai Zhang, Peng Zhang, C. Schlenoff","doi":"10.1109/mra.2023.3237468","DOIUrl":"https://doi.org/10.1109/mra.2023.3237468","url":null,"abstract":"","PeriodicalId":13196,"journal":{"name":"IEEE Robotics Autom. Mag.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73631303","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
An accurate and efficient approach to probabilistic conflict prediction 一种准确有效的概率冲突预测方法
IEEE Robotics Autom. Mag. Pub Date : 2023-02-26 DOI: 10.48550/arXiv.2302.13413
Christian E. Roelofse, C. E. V. Daalen
{"title":"An accurate and efficient approach to probabilistic conflict prediction","authors":"Christian E. Roelofse, C. E. V. Daalen","doi":"10.48550/arXiv.2302.13413","DOIUrl":"https://doi.org/10.48550/arXiv.2302.13413","url":null,"abstract":"Conflict prediction is a vital component of path planning for autonomous vehicles. Prediction methods must be accurate for reliable navigation, but also computationally efficient to enable online path planning. Efficient prediction methods are especially crucial when testing large sets of candidate trajectories. We present a prediction method that has the same accuracy as existing methods, but up to an order of magnitude faster. This is achieved by rewriting the conflict prediction problem in terms of the first-passage time distribution using a dimension-reduction transform. First-passage time distributions are analytically derived for a subset of Gaussian processes describing vehicle motion. The proposed method is applicable to 2-D stochastic processes where the mean can be approximated by line segments, and the conflict boundary can be approximated by piece-wise straight lines. The proposed method was tested in simulation and compared to two probability flow methods, as well as a recent instantaneous conflict probability method. The results demonstrate a significant decrease of computation time.","PeriodicalId":13196,"journal":{"name":"IEEE Robotics Autom. Mag.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-02-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73570500","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
An Addendum to the Problem of Zero-Sum LQ Stochastic Mean-Field Dynamic Games (Extended version) 零和LQ随机平均场动态对策问题的增补(扩展版)
IEEE Robotics Autom. Mag. Pub Date : 2023-02-19 DOI: 10.48550/arXiv.2302.09609
S. Aberkane, V. Drăgan
{"title":"An Addendum to the Problem of Zero-Sum LQ Stochastic Mean-Field Dynamic Games (Extended version)","authors":"S. Aberkane, V. Drăgan","doi":"10.48550/arXiv.2302.09609","DOIUrl":"https://doi.org/10.48550/arXiv.2302.09609","url":null,"abstract":"In this paper, we first address a linear quadratic mean-field game problem with a leader-follower structure. By adopting a Riccati-type approach, we show how one can obtain a state-feedback representation of the pairs of strategies which achieve an open-loop Stackelberg equilibrium in terms of the global solutions of a system of coupled matrix differential Riccati-type equations. In the second part of this paper, we obtain necessary and sufficient conditions for the solvability of the involved coupled generalized Riccati equations.","PeriodicalId":13196,"journal":{"name":"IEEE Robotics Autom. Mag.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-02-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74318548","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Logarithmically Completely Monotonic Rational Functions 对数完全单调有理函数
IEEE Robotics Autom. Mag. Pub Date : 2023-02-17 DOI: 10.48550/arXiv.2302.08773
Hamed Taghavian, R. Drummond, Mikael Johansson
{"title":"Logarithmically Completely Monotonic Rational Functions","authors":"Hamed Taghavian, R. Drummond, Mikael Johansson","doi":"10.48550/arXiv.2302.08773","DOIUrl":"https://doi.org/10.48550/arXiv.2302.08773","url":null,"abstract":"This paper studies the class of logarithmically completely monotonic (LCM) functions. These functions play an important role in characterising externally positive linear systems which find applications in important control problems such as non-overshooting reference tracking. Conditions are proposed to ensure a rational function is LCM, a result that enables the known space of linear continuous-time externally positive systems to be enlarged and an efficient and optimal pole-placement procedure for the monotonic tracking controller synthesis problem to be developed. The presented conditions are shown to be less conservative than existing approaches whilst being computationally tractable.","PeriodicalId":13196,"journal":{"name":"IEEE Robotics Autom. Mag.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-02-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88795342","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Self-triggered Resilient Stabilization of Linear Systems with Quantized Output 具有量化输出的线性系统的自触发弹性镇定
IEEE Robotics Autom. Mag. Pub Date : 2023-02-14 DOI: 10.48550/arXiv.2302.06906
Wenjie Liu, M. Wakaiki, Jian Sun, G. Wang, Jie Chen
{"title":"Self-triggered Resilient Stabilization of Linear Systems with Quantized Output","authors":"Wenjie Liu, M. Wakaiki, Jian Sun, G. Wang, Jie Chen","doi":"10.48550/arXiv.2302.06906","DOIUrl":"https://doi.org/10.48550/arXiv.2302.06906","url":null,"abstract":"This paper studies the problem of stabilizing a self-triggered control system with quantized output. Employing a standard observer-based state feedback control law, a self-triggering mechanism that dictates the next sampling time based on quantized output is co-developed with an output encoding scheme. If, in addition, the transmission protocols at the controller-to-actuator (C-A) and sensor-to-controller (S-C) channels can be adapted, the self-triggered control architecture can be considerably simplified, leveraging a delicate observer-based deadbeat controller to eliminate the need for running the controller in parallel at the encoder side. To account for denial-of-service (DoS) in the S-C channel, the proposed output encoding and self-triggered control schemes are further made resilient. It is shown that a linear time-invariant system can be exponentially stabilized if some conditions on the average DoS duration time are met. There is a trade-off between the maximum inter-sampling time and the resilience against DoS attacks. Finally, a numerical example is presented to demonstrate the practical merits of the proposed self-triggered control schemes and associated theory.","PeriodicalId":13196,"journal":{"name":"IEEE Robotics Autom. Mag.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-02-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89831499","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 4
An LMI Framework for Contraction-based Nonlinear Control Design by Derivatives of Gaussian Process Regression 基于高斯过程回归导数的基于收缩的非线性控制设计LMI框架
IEEE Robotics Autom. Mag. Pub Date : 2023-01-20 DOI: 10.48550/arXiv.2301.08398
Y. Kawano, K. Kashima
{"title":"An LMI Framework for Contraction-based Nonlinear Control Design by Derivatives of Gaussian Process Regression","authors":"Y. Kawano, K. Kashima","doi":"10.48550/arXiv.2301.08398","DOIUrl":"https://doi.org/10.48550/arXiv.2301.08398","url":null,"abstract":"Contraction theory formulates the analysis of nonlinear systems in terms of Jacobian matrices. Although this provides the potential to develop a linear matrix inequality (LMI) framework for nonlinear control design, conditions are imposed not on controllers but on their partial derivatives, which makes control design challenging. In this paper, we illustrate this so-called integrability problem can be solved by a non-standard use of Gaussian process regression (GPR) for parameterizing controllers and then establish an LMI framework of contraction-based control design for nonlinear discrete-time systems, as an easy-to-implement tool. Later on, we consider the case where the drift vector fields are unknown and employ GPR for functional fitting as its standard use. GPR describes learning errors in terms of probability, and thus we further discuss how to incorporate stochastic learning errors into the proposed LMI framework.","PeriodicalId":13196,"journal":{"name":"IEEE Robotics Autom. Mag.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-01-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73128330","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Entropic Model Predictive Optimal Transport over Dynamical Systems 动态系统上熵模型预测最优输运
IEEE Robotics Autom. Mag. Pub Date : 2023-01-16 DOI: 10.48550/arXiv.2301.06492
Kaito Ito, K. Kashima
{"title":"Entropic Model Predictive Optimal Transport over Dynamical Systems","authors":"Kaito Ito, K. Kashima","doi":"10.48550/arXiv.2301.06492","DOIUrl":"https://doi.org/10.48550/arXiv.2301.06492","url":null,"abstract":"We consider the optimal control problem of steering an agent population to a desired distribution over an infinite horizon. This is an optimal transport problem over dynamical systems, which is challenging due to its high computational cost. In this paper, by using entropy regularization, we propose Sinkhorn MPC, which is a dynamical transport algorithm integrating model predictive control (MPC) and the so-called Sinkhorn algorithm. The notable feature of the proposed method is that it achieves cost-effective transport in real time by performing control and transport planning simultaneously, which is illustrated in numerical examples. Moreover, under some assumption on iterations of the Sinkhorn algorithm integrated in MPC, we reveal the global convergence property for Sinkhorn MPC thanks to the entropy regularization. Furthermore, focusing on a quadratic control cost, without the aforementioned assumption we show the ultimate boundedness and the local asymptotic stability for Sinkhorn MPC.","PeriodicalId":13196,"journal":{"name":"IEEE Robotics Autom. Mag.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-01-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87608085","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Prediction based activation of vehicle safety systems - a contribution to improve to occupant safety by validation of pre-crash information and crash severity plus restraint strategy prediction 基于预测的车辆安全系统激活-通过验证碰撞前信息和碰撞严重程度以及约束策略预测，有助于提高乘员安全
IEEE Robotics Autom. Mag. Pub Date : 2023-01-01 DOI: 10.51202/9783186817129
G. Sequeira
{"title":"Prediction based activation of vehicle safety systems - a contribution to improve to occupant safety by validation of pre-crash information and crash severity plus restraint strategy prediction","authors":"G. Sequeira","doi":"10.51202/9783186817129","DOIUrl":"https://doi.org/10.51202/9783186817129","url":null,"abstract":"The world of transportation is rapidly changing with the introduction of partial autonomy in vehicles and the race between the manufacturers to produce a fully automated passenger vehicle. In addition, to enhance driving comfort and reduce the driving workload, these automated vehicles are also visualized as an approach to reduce the majority of accidents that are caused by human errors. However, accidents do happen and there are also some likelihoods that these automated vehicles might fail. Especially in the initial introductory years, which highlights the need for passive safety systems in safeguarding the occupants. These vehicles typically employ forward-looking sensors for the perception of the surrounding environment, which presents an opportunity to use the information from these sensors to predict an upcoming inevitable crash and further estimate the passive safety action required for the predicted crash in the pre-crash phase. This work presents an approach to activate the vehicle safety systems based on the precrash prediction. Contents 1 Introduction 1 1.1 History of vehicle safety . . . . . . . . . . . . . . . . . . . . . . . . 2 1.2 Problem formulation . . . . ....","PeriodicalId":13196,"journal":{"name":"IEEE Robotics Autom. Mag.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77611774","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
首页 上一页 下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：481959085
Book学术官方微信