Download or read book Integrating Planning and Control for Constrained Dynamical Systems written by David C. Conner and published by . This book was released on 2007 with total page 224 pages. Available in PDF, EPUB and Kindle. Book excerpt: Abstract: "This thesis develops an approach to addressing the coupled navigation and control problem for wheeled mobile robots. Instead of using a top-down decoupled approach that does not respect low-level constraints, or a bottom-up approach that cannot guarantee satisfaction of high-level goals, our approach is middle-out. We develop local feedback control policies that respect the low-level constraints. The approach then uses a collection of these policies with existing formal discrete planning methods to either produce a hybrid feedback control policy that guarantees high-level goals are satisfied, or in the worst case, verifies that the high-level specification is not realizable. Our approach enables existing formal symbolic planning methods to be applied to highly constrained systems. We extend the sequential composition of local feedback control policies to wheeled mobile robots in a way that enables the automated synthesis of hybrid control policies. The thesis defines four basic 'composability' requirements that guide our design of local policies. We develop two families of generic feedback policies that induce low-level behaviors in a way that enables their formal composition. The thesis also develops a novel approach for guaranteeing that a given control policy is collision free. By design, the policies respect multiple interacting constraints including large non-circular body shapes, nonholonomic constraints, and input bounds. Given a collection of the local policies and a task specification, our approach uses existing symbolic planning methods to automatically synthesize a switching strategy among the policies. Executing the switching strategy induces continuous motion that satisfies the high-level behavioral specification. This thesis demonstrates the approach on real mobile robots. While wheeled mobile robot navigation is the chosen domain in this thesis, our future work will develop composable policies that extend these formal methods to other constrained dynamical systems."
Download or read book Software Enabled Control written by Tariq Samad and published by John Wiley & Sons. This book was released on 2003-05-01 with total page 448 pages. Available in PDF, EPUB and Kindle. Book excerpt: Discusses open systems, object orientation, software agents, domain-specific languages, component architectures, as well as the dramatic IT-enabled improvements in memory, communication, and processing resources that are now available for sophisticated control algorithms to exploit. Useful for practitioners and researchers in the fields of real-time systems, aerospace engineering, embedded systems, and artificial intelligence.
Download or read book Morphing Aerospace Vehicles and Structures written by John Valasek and published by John Wiley & Sons. This book was released on 2012-02-24 with total page 295 pages. Available in PDF, EPUB and Kindle. Book excerpt: Morphing Aerospace Vehicles and Structures provides a highly timely presentation of the state-of-the-art, future directions and technical requirements of morphing aircraft. Divided into three sections it addresses morphing aircraft, bio-inspiration, and smart structures with specific focus on the flight control, aerodynamics, bio-mechanics, materials, and structures of these vehicles as well as power requirements and the use of advanced piezo materials and smart actuators. The tutorial approach adopted by the contributors, including underlying concepts and mathematical formulations, unifies the methodologies and tools required to provide practicing engineers and applied researchers with the insight to synthesize morphing air vehicles and morphing structures, as well as offering direction for future research.
Download or read book Management Dynamics written by John A. Caspari and published by John Wiley & Sons. This book was released on 2004-11-23 with total page 353 pages. Available in PDF, EPUB and Kindle. Book excerpt: Here's an in-depth, step-by-step analysis defining the critical ingredients essential to achieving ongoing improvement and a robust bottom line! Focusing on practical, dynamic solutions for weaknesses in the interdependent parts of an organization, Management Dynamics provides a comprehensive introduction to the Theory of Constraints (TOC) in profit-oriented organizations, complete with the crucial but oft-missing pieces of the constraint theory–a fully integrated and supporting accounting system and the dynamic motivator to drive ongoing improvement in the bottom line. Order your copy today!
Download or read book Planning Under Uncertainty in Resource constrained Systems written by Daniel DeWitt Strawser and published by . This book was released on 2019 with total page 276 pages. Available in PDF, EPUB and Kindle. Book excerpt: As autonomous systems become integrated into the real world, planning under uncertainty is a critical task. The real world is incredibly complex and systems must reason about factors such as uncertainty in their movements, environments, and human behavior. In the face of this uncertainty, agents must compute control trajectories and policies that enable them to maximize their expected performance while respecting probabilities on mission failure. The task is difficult because systems must reason about large numbers of scenarios concerning what may happen. Compounding the difficulty, many systems must reason about uncertainty while being resource-constrained. Autonomous cars and robots are time-limited because they must react quickly to their environment. Applications such as smart grids are computationally-limited because they require low-cost hardware in order to keep energy cheap. Because of its importance to real world applications, a large amount of work has been devoted to planning under uncertainty. However, few applications focus on the resource-limited case. In time-constrained applications such as motion planning under uncertainty, methods typically focus on simplistic cost functions and models of the environment, dynamics, and stochasticity. In computation-constrained applications such as resource allocation for smart grids, approaches require computationally-intensive solvers that are unsuitable when system cost must be kept to a minimum. In both cases, the prior art is inadequate for real world demands. In this thesis, I develop a series of algorithms that enable resource-constrained systems to better plan under uncertainty. First, my work enables time-constrained systems to better approximate expected cost, search in non-convex regions, and reason about more complicated environmental geometries and agent dynamics. Additionally, I propose algorithms that enable resource allocation under uncertainty on ultra low-cost hardware by distributing computation and approximating state uncertainty through a discretization. In the time-constrained case, I model the problem of motion planning under uncertainty as a hybrid search that consists of an upper level region planner and a lower level motion planner. First, I present a method for quickly computing expected path cost and that is able to vary the precision with which the stochastic model is evaluated as required by the search. Next, I present the Fast Obstacle eXploration (FOX) algorithm that quickly generates a constraint graph for the region planner from complex obstacle geometries. I present a method for integrating CDF-based chance constraints with FOX as well as a method to model the collision probability of agents with non-trivial geometry. The latter algorithm transforms a complex problem in numerical integration into a simpler problem in computational geometry; importantly, the algorithm allows for massive parallelization on GPUs. Finally, this part concludes with the Shooting Method Monte Carlo (SMMC) algorithm. This algorithm models the chance constraint of dynamical systems with non-Gaussian state uncertainty. SMMC combines a shooting trajectory optimization with Monte Carlo simulation to approximate the collision probability for nonlinear dynamical systems. In the computation-constrained case, I develop a set of resource-allocation algorithms that are able to reason about uncertainty while being implementable on ultra low-cost hardware. A market for reliability algorithm is presented that solves resource allocation under uncertainty by allowing a distributed set of agents to bid for reliability. A centralized planner is also presented where the resource allocation problem is modeled as a Markov Decision Process and a stochastic local search used to compute good policies. The approaches for resource-constrained planning under uncertainty are bench-marked against a variety of test cases. In the motion planning domain, test cases are presented using linear dynamical systems, a Dubins car model, and a Slocum glider AUV. The method for bounding expected cost is shown to perform well against a sampling-based approach. The approach to dealing with complex obstacle geometry is shown to reach better solutions more quickly than a sampling-based RRT approach and disjunctive linear program. The sampling-based collocation method is shown to better approximate trajectory risk in simulation than a CDF-based model. Likewise, Shooting Method Monte Carlo is shown to better approximate trajectory risk than a sampling-based collocation method. In both sampling-based cases, GPU parallelization is shown to help scale computation of the chance constraint to large numbers of samples versus CPU-based computation. In the resource allocation case, the distributed and centralized contingency planners are benchmarked against mixed integer linear programs (MILP) and are shown to achieve comparable performance with a much smaller computational footprint.
Download or read book Integrated Planning and Control for Collision Avoidance Systems written by Yi, Boliang and published by KIT Scientific Publishing. This book was released on 2018-08-29 with total page 174 pages. Available in PDF, EPUB and Kindle. Book excerpt: Collision avoidance systems like emergency braking assist systems have demonstrated their effectiveness in increasing the safety of vehicle passengers in various studies. To further increase the effectiveness of collision avoidance systems, the exploitation of the lateral free space by evasive maneuvers is being investigated in this book. This work focuses on methods for integrated trajectory planning and vehicle dynamics control in collision avoidance scenarios by combined evasion and braking.
Download or read book Dynamics and Control written by George Leitmann and published by CRC Press. This book was released on 1999-08-19 with total page 232 pages. Available in PDF, EPUB and Kindle. Book excerpt: This multi-authored volume presents selected papers from the Eighth Workshop on Dynamics and Control. Many of the papers represent significant advances in this area of research, and cover the development of control methods, including the control of dynamical systems subject to mixed constraints on both the control and state variables, and the development of a control design method for flexible manipulators with mismatched uncertainties. Advances in dynamic systems are presented, particularly in game-theoretic approaches and also the applications of dynamic systems methodology to social and environmental problems, for example, the concept of virtual biospheres in modeling climate change in terms of dynamical systems.
Download or read book Some New Methods for Optimal Control of Constrained Dynamical Systems written by John Edward Hurtado and published by . This book was released on 1995 with total page 240 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Information Driven Planning and Control written by Silvia Ferrari and published by MIT Press. This book was released on 2021-07-06 with total page 683 pages. Available in PDF, EPUB and Kindle. Book excerpt: A unified framework for developing planning and control algorithms for active sensing, with examples of applications for specific sensor technologies. Active sensor systems, increasingly deployed in such applications as unmanned vehicles, mobile robots, and environmental monitoring, are characterized by a high degree of autonomy, reconfigurability, and redundancy. This book is the first to offer a unified framework for the development of planning and control algorithms for active sensing, with examples of applications for a range of specific sensor technologies. The methods presented can be characterized as information-driven because their goal is to optimize the value of information, rather than to optimize traditional guidance and navigation objectives.
Download or read book Applied Dynamic Programming for Optimization of Dynamical Systems written by Rush D. Robinett III and published by SIAM. This book was released on 2005-01-01 with total page 278 pages. Available in PDF, EPUB and Kindle. Book excerpt: Based on the results of over 10 years of research and development by the authors, this book presents a broad cross section of dynamic programming (DP) techniques applied to the optimization of dynamical systems. The main goal of the research effort was to develop a robust path planning/trajectory optimization tool that did not require an initial guess. The goal was partially met with a combination of DP and homotopy algorithms. DP algorithms are presented here with a theoretical development, and their successful application to variety of practical engineering problems is emphasized.
Download or read book Dissertation Abstracts International written by and published by . This book was released on 2008 with total page 868 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Control of Nonlinear Dynamical Systems written by Felix L. Chernous'ko and published by Springer Science & Business Media. This book was released on 2008-09-26 with total page 398 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is devoted to new methods of control for complex dynamical systems and deals with nonlinear control systems having several degrees of freedom, subjected to unknown disturbances, and containing uncertain parameters. Various constraints are imposed on control inputs and state variables or their combinations. The book contains an introduction to the theory of optimal control and the theory of stability of motion, and also a description of some known methods based on these theories. Major attention is given to new methods of control developed by the authors over the last 15 years. Mechanical and electromechanical systems described by nonlinear Lagrange’s equations are considered. General methods are proposed for an effective construction of the required control, often in an explicit form. The book contains various techniques including the decomposition of nonlinear control systems with many degrees of freedom, piecewise linear feedback control based on Lyapunov’s functions, methods which elaborate and extend the approaches of the conventional control theory, optimal control, differential games, and the theory of stability. The distinctive feature of the methods developed in the book is that the c- trols obtained satisfy the imposed constraints and steer the dynamical system to a prescribed terminal state in ?nite time. Explicit upper estimates for the time of the process are given. In all cases, the control algorithms and the estimates obtained are strictly proven.
Download or read book Control and Dynamic Systems V52 Integrated Technology Methods and Applications in Aerospace Systems Design written by C.T. Leonides and published by Elsevier. This book was released on 2012-12-02 with total page 563 pages. Available in PDF, EPUB and Kindle. Book excerpt: Control and Dynamic Systems: Advances in Theory and Applications, Volume 52: Integrated Technology Methods and Applications in Aerospace System Design discusses the various techniques and applications in aerospace systems. This book presents automation and integration techniques in optimizing aircraft structural design. It also covers a number of technologies used in aerospace systems such as active flutter suppression, flight control configuration, aeroassisted plane change missions, flight control systems, and impaired aircraft. This book concludes by demonstrating some modeling issues in command, control, and communication networks. This book is a significant reference source for engineers involved in aerospace systems design.
Download or read book Scientific and Technical Aerospace Reports written by and published by . This book was released on 1995 with total page 488 pages. Available in PDF, EPUB and Kindle. Book excerpt: Lists citations with abstracts for aerospace related reports obtained from world wide sources and announces documents that have recently been entered into the NASA Scientific and Technical Information Database.
Download or read book Robotics Research written by Nancy M. Amato and published by Springer Nature. This book was released on 2019-11-28 with total page 1058 pages. Available in PDF, EPUB and Kindle. Book excerpt: ISRR, the "International Symposium on Robotics Research", is one of robotics pioneering Symposia, which has established over the past two decades some of the field's most fundamental and lasting contributions. This book presents the results of the eighteenth edition of "Robotics Research" ISRR17, offering a collection of a broad range of topics in robotics. This symposium took place in Puerto Varas, Chile from December 11th to December 14th, 2017. The content of the contributions provides a wide coverage of the current state of robotics research, the advances and challenges in its theoretical foundation and technology basis, and the developments in its traditional and new emerging areas of applications. The diversity, novelty, and span of the work unfolding in these areas reveal the field's increased maturity and expanded scope and define the state of the art of robotics and its future direction.
Download or read book Proceeding of the 7th International Conference on Logistics Operations Management GOL 24 written by Youssef Benadada and published by Springer Nature. This book was released on with total page 367 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Dynamical Systems and Control written by Firdaus E. Udwadia and published by CRC Press. This book was released on 2004-05-10 with total page 450 pages. Available in PDF, EPUB and Kindle. Book excerpt: The 11th International Workshop on Dynamics and Control brought together scientists and engineers from diverse fields and gave them a venue to develop a greater understanding of this discipline and how it relates to many areas in science, engineering, economics, and biology. The event gave researchers an opportunity to investigate ideas and techniq
