arXiv - EE - Systems and Control最新文献_第4页

3DIOC: Direct Data-Driven Inverse Optimal Control for LTI Systems 3DIOC：LTI 系统的直接数据驱动反向最优控制

arXiv - EE - Systems and Control Pub Date : 2024-09-17 DOI: arxiv-2409.10884

Chendi Qu, Jianping He, Xiaoming Duan

引用次数: 0

Leveraging Symmetry to Accelerate Learning of Trajectory Tracking Controllers for Free-Flying Robotic Systems 利用对称性加速学习自由飞行机器人系统的轨迹跟踪控制器

arXiv - EE - Systems and Control Pub Date : 2024-09-17 DOI: arxiv-2409.11238

Jake Welde, Nishanth Rao, Pratik Kunapuli, Dinesh Jayaraman, Vijay Kumar

{"title":"Leveraging Symmetry to Accelerate Learning of Trajectory Tracking Controllers for Free-Flying Robotic Systems","authors":"Jake Welde, Nishanth Rao, Pratik Kunapuli, Dinesh Jayaraman, Vijay Kumar","doi":"arxiv-2409.11238","DOIUrl":"https://doi.org/arxiv-2409.11238","url":null,"abstract":"Tracking controllers enable robotic systems to accurately follow planned\u0000reference trajectories. In particular, reinforcement learning (RL) has shown\u0000promise in the synthesis of controllers for systems with complex dynamics and\u0000modest online compute budgets. However, the poor sample efficiency of RL and\u0000the challenges of reward design make training slow and sometimes unstable,\u0000especially for high-dimensional systems. In this work, we leverage the inherent\u0000Lie group symmetries of robotic systems with a floating base to mitigate these\u0000challenges when learning tracking controllers. We model a general tracking\u0000problem as a Markov decision process (MDP) that captures the evolution of both\u0000the physical and reference states. Next, we prove that symmetry in the\u0000underlying dynamics and running costs leads to an MDP homomorphism, a mapping\u0000that allows a policy trained on a lower-dimensional \"quotient\" MDP to be lifted\u0000to an optimal tracking controller for the original system. We compare this\u0000symmetry-informed approach to an unstructured baseline, using Proximal Policy\u0000Optimization (PPO) to learn tracking controllers for three systems: the\u0000Particle (a forced point mass), the Astrobee (a fullyactuated space robot), and\u0000the Quadrotor (an underactuated system). Results show that a symmetry-aware\u0000approach both accelerates training and reduces tracking error after the same\u0000number of training steps.","PeriodicalId":501175,"journal":{"name":"arXiv - EE - Systems and Control","volume":"8 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-09-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142264031","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

Data-driven Dynamic Intervention Design in Network Games 网络游戏中数据驱动的动态干预设计

arXiv - EE - Systems and Control Pub Date : 2024-09-17 DOI: arxiv-2409.11069

Xiupeng Chen, Nima Monshizadeh

引用次数: 0

Optimal Investment under the Influence of Decision-changing Imitation 改变决策的模仿影响下的最优投资

arXiv - EE - Systems and Control Pub Date : 2024-09-17 DOI: arxiv-2409.10933

Huisheng Wang, H. Vicky Zhao

{"title":"Optimal Investment under the Influence of Decision-changing Imitation","authors":"Huisheng Wang, H. Vicky Zhao","doi":"arxiv-2409.10933","DOIUrl":"https://doi.org/arxiv-2409.10933","url":null,"abstract":"Decision-changing imitation is a prevalent phenomenon in financial markets,\u0000where investors imitate others' decision-changing rates when making their own\u0000investment decisions. In this work, we study the optimal investment problem\u0000under the influence of decision-changing imitation involving one leading expert\u0000and one retail investor whose decisions are unilaterally influenced by the\u0000leading expert. In the objective functional of the optimal investment problem,\u0000we propose the integral disparity to quantify the distance between the two\u0000investors' decision-changing rates. Due to the underdetermination of the\u0000optimal investment problem, we first derive its general solution using the\u0000variational method and find the retail investor's optimal decisions under two\u0000special cases of the boundary conditions. We theoretically analyze the\u0000asymptotic properties of the optimal decision as the influence of\u0000decision-changing imitation approaches infinity, and investigate the impact of\u0000decision-changing imitation on the optimal decision. Our analysis is validated\u0000using numerical experiments on real stock data. This study is essential to\u0000comprehend decision-changing imitation and devise effective mechanisms to guide\u0000investors' decisions.","PeriodicalId":501175,"journal":{"name":"arXiv - EE - Systems and Control","volume":"9 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-09-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142264323","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

To What Extent do Open-loop and Feedback Nash Equilibria Diverge in General-Sum Linear Quadratic Dynamic Games? 在一般和线性二次动态博弈中，开环和反馈纳什均衡点在多大程度上存在分歧？

arXiv - EE - Systems and Control Pub Date : 2024-09-17 DOI: arxiv-2409.11257

Chih-Yuan Chiu, Jingqi Li, Maulik Bhatt, Negar Mehr

{"title":"To What Extent do Open-loop and Feedback Nash Equilibria Diverge in General-Sum Linear Quadratic Dynamic Games?","authors":"Chih-Yuan Chiu, Jingqi Li, Maulik Bhatt, Negar Mehr","doi":"arxiv-2409.11257","DOIUrl":"https://doi.org/arxiv-2409.11257","url":null,"abstract":"Dynamic games offer a versatile framework for modeling the evolving\u0000interactions of strategic agents, whose steady-state behavior can be captured\u0000by the Nash equilibria of the games. Nash equilibria are often computed in\u0000feedback, with policies depending on the state at each time, or in open-loop,\u0000with policies depending only on the initial state. Empirically, open-loop Nash\u0000equilibria (OLNE) are often more efficient to compute, while feedback Nash\u0000equilibria (FBNE) encode more complex interactions. However, it remains unclear\u0000exactly which dynamic games yield FBNE and OLNE that differ significantly and\u0000which do not. To address this problem, we present a principled comparison study\u0000of OLNE and FBNE in linear quadratic (LQ) dynamic games. Specifically, we prove\u0000that the OLNE strategies of an LQ dynamic game can be synthesized by solving\u0000the coupled Riccati equations of an auxiliary LQ game with perturbed costs. The\u0000construction of the auxiliary game allows us to establish conditions under\u0000which OLNE and FBNE coincide and derive an upper bound on the deviation between\u0000FBNE and OLNE of an LQ game.","PeriodicalId":501175,"journal":{"name":"arXiv - EE - Systems and Control","volume":"7 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-09-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142264140","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 Degree-of-Freedom Soft Continuum Kinesthetic Haptic Display for Telemanipulation Via Sensory Substitution at the Finger 三自由度软连续体感触觉显示器，通过手指感觉替代实现遥控操作

arXiv - EE - Systems and Control Pub Date : 2024-09-17 DOI: arxiv-2409.11606

Jiaji Su, Kaiwen Zuo, Zonghe Chua

{"title":"Three Degree-of-Freedom Soft Continuum Kinesthetic Haptic Display for Telemanipulation Via Sensory Substitution at the Finger","authors":"Jiaji Su, Kaiwen Zuo, Zonghe Chua","doi":"arxiv-2409.11606","DOIUrl":"https://doi.org/arxiv-2409.11606","url":null,"abstract":"Sensory substitution is an effective approach for displaying stable haptic\u0000feedback to a teleoperator under time delay. The finger is highly articulated,\u0000and can sense movement and force in many directions, making it a promising\u0000location for sensory substitution based on kinesthetic feedback. However,\u0000existing finger kinesthetic devices either provide only one-degree-of-freedom\u0000feedback, are bulky, or have low force output. Soft pneumatic actuators have\u0000high power density, making them suitable for realizing high force kinesthetic\u0000feedback in a compact form factor. We present a soft pneumatic handheld\u0000kinesthetic feedback device for the index finger that is controlled using a\u0000constant curvature kinematic model. changed{It has respective position and\u0000force ranges of +-3.18mm and +-1.00N laterally, and +-4.89mm and +-6.01N\u0000vertically, indicating its high power density and compactness. The average\u0000open-loop radial position and force accuracy of the kinematic model are 0.72mm\u0000and 0.34N.} Its 3Hz bandwidth makes it suitable for moderate speed haptic\u0000interactions in soft environments. We demonstrate the three-dimensional\u0000kinesthetic force feedback capability of our device for sensory substitution at\u0000the index figure in a virtual telemanipulation scenario.","PeriodicalId":501175,"journal":{"name":"arXiv - EE - Systems and Control","volume":"20 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-09-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142264200","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

Pose estimation of CubeSats via sensor fusion and Error-State Extended Kalman Filter 通过传感器融合和误差状态扩展卡尔曼滤波器估算立方体卫星的姿态

arXiv - EE - Systems and Control Pub Date : 2024-09-17 DOI: arxiv-2409.10815

Deep Parikh, Manoranjan Majji

引用次数: 0

Distributed Perception Aware Safe Leader Follower System via Control Barrier Methods 通过控制障碍方法实现分布式感知安全领导者追随者系统

arXiv - EE - Systems and Control Pub Date : 2024-09-17 DOI: arxiv-2409.11394

Richie R. Suganda, Tony Tran, Miao Pan, Lei Fan, Qin Lin, Bin Hu

引用次数: 0

Online 4D Ultrasound-Guided Robotic Tracking Enables 3D Ultrasound Localisation Microscopy with Large Tissue Displacements 在线 4D 超声引导机器人跟踪实现了大组织位移下的三维超声定位显微镜检查

arXiv - EE - Systems and Control Pub Date : 2024-09-17 DOI: arxiv-2409.11391

Jipeng Yan, Shusei Kawara, Qingyuan Tan, Jingwen Zhu, Bingxue Wang, Matthieu Toulemonde, Honghai Liu, Ying Tan, Meng-Xing Tang

{"title":"Online 4D Ultrasound-Guided Robotic Tracking Enables 3D Ultrasound Localisation Microscopy with Large Tissue Displacements","authors":"Jipeng Yan, Shusei Kawara, Qingyuan Tan, Jingwen Zhu, Bingxue Wang, Matthieu Toulemonde, Honghai Liu, Ying Tan, Meng-Xing Tang","doi":"arxiv-2409.11391","DOIUrl":"https://doi.org/arxiv-2409.11391","url":null,"abstract":"Super-Resolution Ultrasound (SRUS) imaging through localising and tracking\u0000microbubbles, also known as Ultrasound Localisation Microscopy (ULM), has\u0000demonstrated significant potential for reconstructing microvasculature and\u0000flows with sub-diffraction resolution in clinical diagnostics. However, imaging\u0000organs with large tissue movements, such as those caused by respiration,\u0000presents substantial challenges. Existing methods often require breath holding\u0000to maintain accumulation accuracy, which limits data acquisition time and ULM\u0000image saturation. To improve image quality in the presence of large tissue\u0000movements, this study introduces an approach integrating high-frame-rate\u0000ultrasound with online precise robotic probe control. Tested on a\u0000microvasculature phantom with translation motions up to 20 mm, twice the\u0000aperture size of the matrix array used, our method achieved real-time tracking\u0000of the moving phantom and imaging volume rate at 85 Hz, keeping majority of the\u0000target volume in the imaging field of view. ULM images of the moving cross\u0000channels in the phantom were successfully reconstructed in post-processing,\u0000demonstrating the feasibility of super-resolution imaging under large tissue\u0000motions. This represents a significant step towards ULM imaging of organs with\u0000large motion.","PeriodicalId":501175,"journal":{"name":"arXiv - EE - Systems and Control","volume":"40 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-09-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142264328","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

Sample Complexity Bounds for Linear System Identification from a Finite Set 从有限集合识别线性系统的样本复杂性界限

arXiv - EE - Systems and Control Pub Date : 2024-09-17 DOI: arxiv-2409.11141

Nicolas Chatzikiriakos, Andrea Iannelli

引用次数: 0