Annual Review of Control Robotics and Autonomous Systems最新文献

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":null,"pages":null},"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":null,"pages":null},"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":null,"pages":null},"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":null,"pages":null},"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":null,"pages":null},"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":null,"pages":null},"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

Toward a Theoretical Foundation of Policy Optimization for Learning Control Policies 基于学习控制策略的策略优化理论基础

1区计算机科学

Annual Review of Control Robotics and Autonomous Systems Pub Date : 2023-05-03 DOI: 10.1146/annurev-control-042920-020021

Bin Hu, Kaiqing Zhang, Na Li, Mehran Mesbahi, Maryam Fazel, Tamer Başar

{"title":"Toward a Theoretical Foundation of Policy Optimization for Learning Control Policies","authors":"Bin Hu, Kaiqing Zhang, Na Li, Mehran Mesbahi, Maryam Fazel, Tamer Başar","doi":"10.1146/annurev-control-042920-020021","DOIUrl":"https://doi.org/10.1146/annurev-control-042920-020021","url":null,"abstract":"Gradient-based methods have been widely used for system design and optimization in diverse application domains. Recently, there has been a renewed interest in studying theoretical properties of these methods in the context of control and reinforcement learning. This article surveys some of the recent developments on policy optimization, a gradient-based iterative approach for feedback control synthesis that has been popularized by successes of reinforcement learning. We take an interdisciplinary perspective in our exposition that connects control theory, reinforcement learning, and large-scale optimization. We review a number of recently developed theoretical results on the optimization landscape, global convergence, and sample complexityof gradient-based methods for various continuous control problems, such as the linear quadratic regulator (LQR), [Formula: see text] control, risk-sensitive control, linear quadratic Gaussian (LQG) control, and output feedback synthesis. In conjunction with these optimization results, we also discuss how direct policy optimization handles stability and robustness concerns in learning-based control, two main desiderata in control engineering. We conclude the survey by pointing out several challenges and opportunities at the intersection of learning and control.","PeriodicalId":29961,"journal":{"name":"Annual Review of Control Robotics and Autonomous Systems","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-05-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134923116","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: 2

Noise in Biomolecular Systems: Modeling, Analysis, and Control Implications 生物分子系统中的噪声:建模、分析和控制意义

1区计算机科学

Annual Review of Control Robotics and Autonomous Systems Pub Date : 2023-05-03 DOI: 10.1146/annurev-control-042920-101825

Corentin Briat, Mustafa Khammash

{"title":"Noise in Biomolecular Systems: Modeling, Analysis, and Control Implications","authors":"Corentin Briat, Mustafa Khammash","doi":"10.1146/annurev-control-042920-101825","DOIUrl":"https://doi.org/10.1146/annurev-control-042920-101825","url":null,"abstract":"While noise is generally associated with uncertainties and often has a negative connotation in engineering, living organisms have evolved to adapt to (and even exploit) such uncertainty to ensure the survival of a species or implement certain functions that would have been difficult or even impossible otherwise. In this article, we review the role and impact of noise in systems and synthetic biology, with a particular emphasis on its role in the genetic control of biological systems, an area we refer to as cybergenetics. The main modeling paradigm is that of stochastic reaction networks, whose applicability goes beyond biology, as these networks can represent any population dynamics system, including ecological, epidemiological, and opinion dynamics networks. We review different ways to mathematically represent these systems, and we notably argue that the concept of ergodicity presents a particularly suitable way to characterize their stability. We then discuss noise-induced properties and show that noise can be both an asset and a nuisance in this setting. Finally, we discuss recent results on (stochastic) cybergenetics and explore their relationships to noise. Along the way, we detail the different technical and biological constraints that need to be respected when designing synthetic biological circuits. Finally, we discuss the concepts, problems, and solutions exposed in the article; raise criticisms and concerns about current ideas and approaches; suggest current (open) problems with potential solutions; and provide some ideas for future research directions.","PeriodicalId":29961,"journal":{"name":"Annual Review of Control Robotics and Autonomous Systems","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-05-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134923115","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: 2

How the CYBATHLON Competition Has Advanced Assistive Technologies CYBATHLON比赛如何使用先进的辅助技术

IF 13.4 1区计算机科学

Annual Review of Control Robotics and Autonomous Systems Pub Date : 2023-05-03 DOI: 10.1146/annurev-control-071822-095355

L. Jaeger, R. Baptista, Chiara Basla, P. Capsi-Morales, Yong Kuk Kim, S. Nakajima, C. Piazza, Michael Sommerhalder, L. Tonin, G. Valle, R. Riener, R. Sigrist

{"title":"How the CYBATHLON Competition Has Advanced Assistive Technologies","authors":"L. Jaeger, R. Baptista, Chiara Basla, P. Capsi-Morales, Yong Kuk Kim, S. Nakajima, C. Piazza, Michael Sommerhalder, L. Tonin, G. Valle, R. Riener, R. Sigrist","doi":"10.1146/annurev-control-071822-095355","DOIUrl":"https://doi.org/10.1146/annurev-control-071822-095355","url":null,"abstract":"Approximately 1.1. billion people worldwide live with some form of disability, and assistive technology has the potential to increase their overall quality of life. However, the end users’ perspective and needs are often not sufficiently considered during the development of this technology, leading to frustration and nonuse of existing devices. Since its first competition in 2016, CYBATHLON has aimed to drive innovation in the field of assistive technology by motivating teams to involve end users more actively in the development process and to tailor novel devices to their actual daily-life needs. Competition tasks therefore represent unsolved daily-life challenges for people with disabilities and serve the purpose of benchmarking the latest developments from research laboratories and companies from around the world. This review describes each of the competition disciplines, their contributions to assistive technology, and remaining challenges in the user-centered development of this technology.","PeriodicalId":29961,"journal":{"name":"Annual Review of Control Robotics and Autonomous Systems","volume":null,"pages":null},"PeriodicalIF":13.4,"publicationDate":"2023-05-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88404706","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: 2