2023 31st Mediterranean Conference on Control and Automation (MED)最新文献_第7页

Decentralized Multi-agent Coordination under MITL Specifications and Communication Constraints MITL规范和通信约束下的分散多智能体协调

2023 31st Mediterranean Conference on Control and Automation (MED) Pub Date : 2023-06-26 DOI: 10.1109/MED59994.2023.10185907

W. Wang, Georg Friedrich Schuppe, Jana Tumova

{"title":"Decentralized Multi-agent Coordination under MITL Specifications and Communication Constraints","authors":"W. Wang, Georg Friedrich Schuppe, Jana Tumova","doi":"10.1109/MED59994.2023.10185907","DOIUrl":"https://doi.org/10.1109/MED59994.2023.10185907","url":null,"abstract":"We propose a decentralized solution for high-level multi-agent task planning problems in environments considering communication network failure. In particular, we consider that robots can only sense each other and communicate within a limited radius, yet, they may need to collaborate to accomplish their tasks. These tasks are given in Metric Interval Temporal Logic (MITL), which is capable to capture complex task specifications involving explicit time constraints. To substitute for the lacking communication networks, we deploy an agile robot (e.g., drones) to transfer information between the heavy-duty robots while executing tasks. We propose an algorithm to decompose each MITL formula that is assigned to the corresponding heavy-duty robot into an independent task of that robot and an independent request for others. The agile robot systematically pursues heavy-duty robots to exchange requests. The heavy-duty robots use formal methods-based algorithms to compute path plans satisfying the independent promises and the received requests. While the robots’ plan computation is fully decentralized, the satisfaction of all tasks is guaranteed (if such plans are found). The proposed solution can be applied to practical applications where the communication network fails or is restricted, such as post-catastrophe search and rescue and wildlife surveillance.","PeriodicalId":270226,"journal":{"name":"2023 31st Mediterranean Conference on Control and Automation (MED)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114021511","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

An output-feedback fault-tolerant control approach for multiple faults 一种多故障输出反馈容错控制方法

2023 31st Mediterranean Conference on Control and Automation (MED) Pub Date : 2023-06-26 DOI: 10.1109/MED59994.2023.10185726

M. Pazera, M. Witczak, V. Puig, C. Aubrun

引用次数: 0

Adaptive Risk Sensitive Path Integral for Model Predictive Control via Reinforcement Learning 基于强化学习的自适应风险敏感路径积分模型预测控制

2023 31st Mediterranean Conference on Control and Automation (MED) Pub Date : 2023-06-26 DOI: 10.1109/MED59994.2023.10185876

Hyung-Jin Yoon, Chuyuan Tao, Hunmin Kim, N. Hovakimyan, P. Voulgaris

{"title":"Adaptive Risk Sensitive Path Integral for Model Predictive Control via Reinforcement Learning","authors":"Hyung-Jin Yoon, Chuyuan Tao, Hunmin Kim, N. Hovakimyan, P. Voulgaris","doi":"10.1109/MED59994.2023.10185876","DOIUrl":"https://doi.org/10.1109/MED59994.2023.10185876","url":null,"abstract":"We propose a reinforcement learning framework where an agent uses an internal nominal model for stochastic model predictive control (MPC) while compensating for a disturbance. Our work builds on the existing risk-aware optimal control with stochastic differential equations (SDEs) that aims to deal with such disturbance. However, the risk sensitivity and the noise strength of the nominal SDE in the riskaware optimal control are often heuristically chosen. In the proposed framework, the risk-taking policy determines the behavior of the MPC to be risk-seeking (exploration) or risk-averse (exploitation). Specifically, we employ the risk-aware path integral control that can be implemented as a Monte-Carlo (MC) sampling with fast parallel simulations using a GPU. The MC sampling implementations of the MPC have been successful in robotic applications due to their real-time computation capability. The proposed framework that adapts the noise model and the risk sensitivity outperforms the standard model predictive path integral in simulation environments that have disturbances.","PeriodicalId":270226,"journal":{"name":"2023 31st Mediterranean Conference on Control and Automation (MED)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134080239","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

Two-level Steering Stability Control Based on Energy-Saving of a Four In-Wheel Motor Drive Electric Vehicle 基于节能的四轮电机驱动电动车两级转向稳定性控制

2023 31st Mediterranean Conference on Control and Automation (MED) Pub Date : 2023-06-26 DOI: 10.1109/MED59994.2023.10185857

R. Achdad, A. Rabhi, O. Pagès, J. Bosche

引用次数: 0

An Integral-based Control Allocation Algorithm for Optimal Spacecraft Actuator Selection under l1, l2, l∞ Criteria for Fault Tolerance 基于l1, l2, l∞容错准则的航天器作动器优化控制分配算法

2023 31st Mediterranean Conference on Control and Automation (MED) Pub Date : 2023-06-26 DOI: 10.1109/MED59994.2023.10185707

D. Henry

引用次数: 0

Automatic Setup of a Pulse Duplicator Apparatus through a Dither-free ESC Approach 通过无抖动ESC方法自动设置脉冲复制器装置

2023 31st Mediterranean Conference on Control and Automation (MED) Pub Date : 2023-06-26 DOI: 10.1109/MED59994.2023.10185861

E. Manzoni, M. Rampazzo, L. Micco, F. Susin

引用次数: 0

Deep Image Inpainting to Support Endoscopic Procedures 支持内窥镜手术的深度图像修复

2023 31st Mediterranean Conference on Control and Automation (MED) Pub Date : 2023-06-26 DOI: 10.1109/MED59994.2023.10185683

Danilo Menegatti, Filippo Betello, F. D. Priscoli, A. Giuseppi

引用次数: 0

Controllers coordination for diesel engines NOx emissions management 协调柴油发动机氮氧化物排放管理

2023 31st Mediterranean Conference on Control and Automation (MED) Pub Date : 2023-06-26 DOI: 10.1109/MED59994.2023.10185886

L. Ventura, S. Malan

{"title":"Controllers coordination for diesel engines NOx emissions management","authors":"L. Ventura, S. Malan","doi":"10.1109/MED59994.2023.10185886","DOIUrl":"https://doi.org/10.1109/MED59994.2023.10185886","url":null,"abstract":"Tightened diesel pollutants emissions regulations rendered the performance of steady-state map controls, which are commonly used in Internal Combustion Engine (ICE) management, unsatisfactory. To overcome these performance constraints, control systems must deal with engine transient operation, subsystem coupling and the trade-off between different requirements to efficiently manage the engine. The research demonstrates the utility of a reference generator for coordinating the air path and combustion control systems of a turbocharged diesel engine for heavy-duty applications. The control system coordinator is based on neural networks and allows following different engine-out Nitrogen Oxides (NOx) targets while satisfying the load request. The main idea is to generate air path targets, intake O2 concentration and Intake MAnifold Pressure (IMAP), in accordance with the ones of the combustion control system, engine load, in the form of Brake Mean Effective Pressure (BMEP), and NOx. As a result, the air path control system provides the global conditions for the engine proper operation, while the combustion control responds to rapid changes in the engine operating state and compensates for any remaining deviations from load and NOx targets. The reference generator, as well as the two controllers, are suitable for real-time implementation on rapid-prototyping hardware. The performance was overall good, achieving average deviations of 0.1 bar for the BMEP and 150 ppm for the NOx.","PeriodicalId":270226,"journal":{"name":"2023 31st Mediterranean Conference on Control and Automation (MED)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126466820","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

Fundamental Limits on Disturbance Propagation in Virtual Viscoelastic-based Multi-Agent Systems 基于虚拟粘弹性的多智能体系统中扰动传播的基本限制

2023 31st Mediterranean Conference on Control and Automation (MED) Pub Date : 2023-06-26 DOI: 10.1109/MED59994.2023.10185864

Dinesh Murugan, Rozhin Hajian, Milad Siami

引用次数: 0

H∞ State estimation for stochastic state multiplicative systems 随机状态乘法系统的H∞状态估计

2023 31st Mediterranean Conference on Control and Automation (MED) Pub Date : 2023-06-26 DOI: 10.1109/MED59994.2023.10185680

E. Gershon

引用次数: 0