Annual Review of Control Robotics and Autonomous Systems最新文献

Unfolding the Literature: A Review of Robotic Cloth Manipulation 展开文献：机器人布料操作综述

1区计算机科学

Annual Review of Control Robotics and Autonomous Systems Pub Date : 2024-12-02 DOI: 10.1146/annurev-control-022723-033252

Alberta Longhini, Yufei Wang, Irene Garcia-Camacho, David Blanco–Mulero, Marco Moletta, Michael C. Welle, Guillem Alenyà, Hang Yin, Zackory Erickson, David Held, Júlia Borràs, Danica Kragic

{"title":"Unfolding the Literature: A Review of Robotic Cloth Manipulation","authors":"Alberta Longhini, Yufei Wang, Irene Garcia-Camacho, David Blanco–Mulero, Marco Moletta, Michael C. Welle, Guillem Alenyà, Hang Yin, Zackory Erickson, David Held, Júlia Borràs, Danica Kragic","doi":"10.1146/annurev-control-022723-033252","DOIUrl":"https://doi.org/10.1146/annurev-control-022723-033252","url":null,"abstract":"The realm of textiles spans clothing, households, healthcare, sports, and industrial applications. The deformable nature of these objects poses unique challenges that prior work on rigid objects cannot fully address. The increasing interest within the community in textile perception and manipulation has led to new methods that aim to address challenges in modeling, perception, and control, resulting in significant progress. However, this progress is often tailored to one specific textile or a subcategory of these textiles. To understand what restricts these methods and hinders current approaches from generalizing to a broader range of real-world textiles, this review provides an overview of the field, focusing specifically on how and to what extent textile variations are addressed in modeling, perception, benchmarking, and manipulation of textiles. We conclude by identifying key open problems and outlining grand challenges that will drive future advancements in the field.","PeriodicalId":29961,"journal":{"name":"Annual Review of Control Robotics and Autonomous Systems","volume":"8 1","pages":"295-322"},"PeriodicalIF":0.0,"publicationDate":"2024-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147382173","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 15

Deep Reinforcement Learning for Robotics: A Survey of Real-World Successes 机器人的深度强化学习：现实世界成功案例综述

1区计算机科学

Annual Review of Control Robotics and Autonomous Systems Pub Date : 2024-11-26 DOI: 10.1146/annurev-control-030323-022510

Chen Tang, Ben Abbatematteo, Jiaheng Hu, Rohan Chandra, Roberto Martín-Martín, Peter Stone

{"title":"Deep Reinforcement Learning for Robotics: A Survey of Real-World Successes","authors":"Chen Tang, Ben Abbatematteo, Jiaheng Hu, Rohan Chandra, Roberto Martín-Martín, Peter Stone","doi":"10.1146/annurev-control-030323-022510","DOIUrl":"https://doi.org/10.1146/annurev-control-030323-022510","url":null,"abstract":"Reinforcement learning (RL), particularly its combination with deep neural networks, referred to as deep RL (DRL), has shown tremendous promise across a wide range of applications, suggesting its potential for enabling the development of sophisticated robotic behaviors. Robotics problems, however, pose fundamental difficulties for the application of RL, stemming from the complexity and cost of interacting with the physical world. This article provides a modern survey of DRL for robotics, with a particular focus on evaluating the real-world successes achieved with DRL in realizing several key robotic competencies. Our analysis aims to identify the key factors underlying those exciting successes, reveal underexplored areas, and provide an overall characterization of the status of DRL in robotics. We highlight several important avenues for future work, emphasizing the need for stable and sample-efficient real-world RL paradigms; holistic approaches for discovering and integrating various competencies to tackle complex long-horizon, open-world tasks; and principled development and evaluation procedures. This survey is designed to offer insights for both RL practitioners and roboticists toward harnessing RL's power to create generally capable real-world robotic systems.","PeriodicalId":29961,"journal":{"name":"Annual Review of Control Robotics and Autonomous Systems","volume":"8 1","pages":"153-188"},"PeriodicalIF":0.0,"publicationDate":"2024-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147907695","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 89

Physically Assistive Robots: A Systematic Review of Mobile and Manipulator Robots that Physically Assist People with Disabilities. 肢体辅助机器人：对肢体辅助残疾人的移动机器人和操纵机器人的系统回顾。

IF 14.6 1区计算机科学

Annual Review of Control Robotics and Autonomous Systems Pub Date : 2024-07-01 Epub Date: 2023-11-21 DOI: 10.1146/annurev-control-062823-024352

Amal Nanavati, Vinitha Ranganeni, Maya Cakmak

{"title":"Physically Assistive Robots: A Systematic Review of Mobile and Manipulator Robots that Physically Assist People with Disabilities.","authors":"Amal Nanavati, Vinitha Ranganeni, Maya Cakmak","doi":"10.1146/annurev-control-062823-024352","DOIUrl":"10.1146/annurev-control-062823-024352","url":null,"abstract":"<p><p>Over 1 billion people in the world are estimated to experience significant disability. These disabilities can impact people's ability to independently conduct activities of daily living, including ambulating, feeding, dressing, taking care of personal hygiene, and more. Mobile and manipulator robots, which can move about human environments and physically interact with objects and people, have the potential to assist people with disabilities in activities of daily living. Although the vision of physically assistive robots has motivated research across sub-fields of robotics for decades, such robots have only recently become feasible in terms of capabilities, safety, and price. More and more research involves end-to-end robotic systems that interact with people with disabilities in real world settings. In this paper, we survey papers about physically assistive robots intended for people with disabilities from top conferences and journals in robotics, human-computer interactions, and accessible technology, to identify the general trends and research methodologies. We then dive into three specific research themes - interaction interfaces, levels of autonomy, and adaptation - and present frameworks for how these themes manifest across physically assistive robot research. We conclude with directions for future research.</p>","PeriodicalId":29961,"journal":{"name":"Annual Review of Control Robotics and Autonomous Systems","volume":"7 ","pages":"123-147"},"PeriodicalIF":14.6,"publicationDate":"2024-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12978752/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147445019","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Instinctive Negotiation by Autonomous Agents in Dense, Unstructured Traffic: A Controls Perspective 密集非结构化交通中自主主体的本能协商:控制视角

1区计算机科学

Annual Review of Control Robotics and Autonomous Systems Pub Date : 2023-11-14 DOI: 10.1146/annurev-control-060923-025701

Mrdjan Jankovic

{"title":"Instinctive Negotiation by Autonomous Agents in Dense, Unstructured Traffic: A Controls Perspective","authors":"Mrdjan Jankovic","doi":"10.1146/annurev-control-060923-025701","DOIUrl":"https://doi.org/10.1146/annurev-control-060923-025701","url":null,"abstract":"Operating autonomous agents in unstructured space presents a difficult problem. The complexity of making decisions such as when to yield and when to go ahead increases exponentially with the number of agents. This is true for humans as well as for software that controls autonomous agents. With some practice, however, human operators are able to move efficiently in a maze of interacting agents in dense traffic. One recent result correlates the instability of equilibria in a multiagent system with an absence of gridlocks. These control barrier function–based algorithms do not include a decision-making component—the action is continuous, and negotiation happens through instability. This mechanism, referred to as instinctive negotiation, is contrasted with discontinuity-induced decisions arising from nonconvex optimization. Based on observed behavioral similarities and insights into human implicit and explicit learning, this article proposes a connection with human driving and suggests that humans may employ a mechanism similar to instinctive negotiation to navigate dense traffic. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 7 is May 2024. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.","PeriodicalId":29961,"journal":{"name":"Annual Review of Control Robotics and Autonomous Systems","volume":"9 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134956849","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Control Framework for Ocean Wave Energy Conversion Systems: The Potential of Moments 海浪能量转换系统的控制框架:矩势

1区计算机科学

Annual Review of Control Robotics and Autonomous Systems Pub Date : 2023-11-14 DOI: 10.1146/annurev-control-070523-115155

Nicolás Faedo, John V. Ringwood

{"title":"A Control Framework for Ocean Wave Energy Conversion Systems: The Potential of Moments","authors":"Nicolás Faedo, John V. Ringwood","doi":"10.1146/annurev-control-070523-115155","DOIUrl":"https://doi.org/10.1146/annurev-control-070523-115155","url":null,"abstract":"The control of wave energy converters (WECs) to maximize power capture is a challenging problem. In particular, the nature of the wave excitation, which is in general panchromatic (or multi-sinusoidal), presents a reciprocating energy source that needs to be rectified through some means. In addition, the development of suitable control-oriented models is also challenging, requiring correct representation of system hydrodynamics and power take-off (PTO) components, while also lending themselves to control synthesis and real-time computational performance, along with a challenging optimal control problem. This article presents a moment-based mathematical framework for the formulation and solution of WEC control. It shows that moments are ideally suited to WEC control in terms of their ability to accurately characterize the nature of the wave excitation force (and the consequent evolutions in the system variables) while also gracefully including hydrodynamic and PTO nonlinearities as well as a natural extension to WEC arrays. Model reduction, to mold the system model into a control-friendly form, is also a feature of this framework. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 7 is May 2024. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.","PeriodicalId":29961,"journal":{"name":"Annual Review of Control Robotics and Autonomous Systems","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134957156","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Control Co-Design of Wind Turbines 风力发电机控制协同设计

1区计算机科学

Annual Review of Control Robotics and Autonomous Systems Pub Date : 2023-11-14 DOI: 10.1146/annurev-control-061423-101708

Lucy Y. Pao, Manuel Pusch, Daniel S. Zalkind

{"title":"Control Co-Design of Wind Turbines","authors":"Lucy Y. Pao, Manuel Pusch, Daniel S. Zalkind","doi":"10.1146/annurev-control-061423-101708","DOIUrl":"https://doi.org/10.1146/annurev-control-061423-101708","url":null,"abstract":"Wind energy is recognized worldwide as cost-effective and environmentally friendly, and it is among the fastest-growing sources of electrical energy. To further decrease the cost of wind energy, wind turbines are being designed at ever-larger scales. To expand the deployment of wind energy, wind turbines are also being designed on floating platforms for placement in deep-water locations offshore. Both larger-scale and floating wind turbines pose challenges because of their greater structural loads and deflections. Complex, large-scale systems such as modern wind turbines increasingly require a control co-design approach, whereby the system design and control design are performed in a more integrated fashion. This article reviews recent developments in control co-design of wind turbines. We provide an overview of wind turbine design objectives and constraints, issues in the design of key wind turbine components, modeling of the wind turbine and environment, and controller coupling issues. Wind turbine control functions and the integration of control design in co-design are detailed with a focus on co-design compatible control approaches. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 7 is May 2024. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.","PeriodicalId":29961,"journal":{"name":"Annual Review of Control Robotics and Autonomous Systems","volume":"6 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134956675","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

From Virtual Reality to the Emerging Discipline of Perception Engineering 从虚拟现实到新兴的感知工程学科

1区计算机科学

Annual Review of Control Robotics and Autonomous Systems Pub Date : 2023-11-06 DOI: 10.1146/annurev-control-062323-102456

Steven M. LaValle, Evan G. Center, Timo Ojala, Matti Pouke, Nicoletta Prencipe, Basak Sakcak, Markku Suomalainen, Kalle G. Timperi, Vadim Weinstein

{"title":"From Virtual Reality to the Emerging Discipline of Perception Engineering","authors":"Steven M. LaValle, Evan G. Center, Timo Ojala, Matti Pouke, Nicoletta Prencipe, Basak Sakcak, Markku Suomalainen, Kalle G. Timperi, Vadim Weinstein","doi":"10.1146/annurev-control-062323-102456","DOIUrl":"https://doi.org/10.1146/annurev-control-062323-102456","url":null,"abstract":"This article makes the case that a powerful new discipline, which we term perception engineering, is steadily emerging. It follows from a progression of ideas that involve creating illusions, from historical paintings and film to modern video games and virtual reality. Rather than creating physical artifacts such as bridges, airplanes, or computers, perception engineers create illusory perceptual experiences. The scope is defined over any agent that interacts with the physical world, including both biological organisms (humans and animals) and engineered systems (robots and autonomous systems). The key idea is that an agent, called a producer, alters the environment with the intent to alter the perceptual experience of another agent, called a receiver. Most importantly, the article introduces a precise mathematical formulation of this process, based on the von Neumann–Morgenstern notion of information, to help scope and define the discipline. This formulation is then applied to the cases of engineered and biological agents, with discussion of its implications for existing fields such as virtual reality, robotics, and even social media. Finally, open challenges and opportunities for involvement are identified. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 7 is May 2024. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.","PeriodicalId":29961,"journal":{"name":"Annual Review of Control Robotics and Autonomous Systems","volume":"13 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135589113","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Ethics of Social Robotics: Individual and Societal Concerns and Opportunities 社会机器人伦理:个人和社会的关注和机会

1区计算机科学

Annual Review of Control Robotics and Autonomous Systems Pub Date : 2023-10-23 DOI: 10.1146/annurev-control-062023-082238

Carme Torras

{"title":"Ethics of Social Robotics: Individual and Societal Concerns and Opportunities","authors":"Carme Torras","doi":"10.1146/annurev-control-062023-082238","DOIUrl":"https://doi.org/10.1146/annurev-control-062023-082238","url":null,"abstract":"Focus on the ethics of a given technology tends to lag far behind its development. This lag has been particularly acute in the case of artificial intelligence, whose accelerated deployment in a wide range of domains has triggered unprecedented attention on the risks and consequences for society at large, leading to a myriad of ethics regulations, which are difficult to coordinate and integrate due to their late appearance. The very nature of social robots forces their deployment to occur at a much slower pace, providing an opportunity for a profound reflection on ethics, which is already happening in multidisciplinary teams. This article provides a personal view of the ethics landscape, centered on the particularities of social robotics, with the main issues being ordered along two axes (individual and societal) and grouped into eight categories (human dignity, human autonomy, robot transparency, emotional bonding, privacy and safety, justice, freedom, and responsibility). This structure stems from the experience of developing and teaching a university course on ethics in social robotics, whose pedagogical materials are freely available. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 7 is May 2024. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.","PeriodicalId":29961,"journal":{"name":"Annual Review of Control Robotics and Autonomous Systems","volume":"41 6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135366968","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Robotics Software: Past, Present, and Future 机器人软件:过去、现在和未来

1区计算机科学

Annual Review of Control Robotics and Autonomous Systems Pub Date : 2023-10-20 DOI: 10.1146/annurev-control-061323-095841

Jesse Haviland, Peter Corke

引用次数: 0

Robot Model Identification and Learning: A Modern Perspective 机器人模型识别与学习:现代视角

1区计算机科学

Annual Review of Control Robotics and Autonomous Systems Pub Date : 2023-10-20 DOI: 10.1146/annurev-control-061523-102310

Taeyoon Lee, Jaewoon Kwon, Patrick M. Wensing, Frank C. Park

{"title":"Robot Model Identification and Learning: A Modern Perspective","authors":"Taeyoon Lee, Jaewoon Kwon, Patrick M. Wensing, Frank C. Park","doi":"10.1146/annurev-control-061523-102310","DOIUrl":"https://doi.org/10.1146/annurev-control-061523-102310","url":null,"abstract":"In recent years, the increasing complexity and safety-critical nature of robotic tasks have highlighted the importance of accurate and reliable robot models. This trend has led to a growing belief that, given enough data, traditional physics-based robot models can be replaced by appropriately trained deep networks or their variants. Simultaneously, there has been a renewed interest in physics-based simulation, fueled by the widespread use of simulators to train reinforcement learning algorithms in the sim-to-real paradigm. The primary objective of this review is to present a unified perspective on the process of determining robot models from data, commonly known as system identification or model learning in different subfields. The review aims to illuminate the key challenges encountered and highlight recent advancements in system identification for robotics. Specifically, we focus on recent breakthroughs that leverage the geometry of the identification problem and incorporate physics-based knowledge beyond mere first-principles model parameterizations. Through these efforts, we strive to provide a contemporary outlook on this problem, bridging classical findings with the latest progress in the field. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 7 is May 2024. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.","PeriodicalId":29961,"journal":{"name":"Annual Review of Control Robotics and Autonomous Systems","volume":"37 11","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135568032","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0