scholarly journals Vision-Based State Estimation and Trajectory Control Towards High-Speed Flight with a Quadrotor

2013 ◽  
Author(s):  
Shaojie Shen ◽  
Yash Mulgaonkar ◽  
Nathan Michael ◽  
Vijay Kumar
Keyword(s):  
State Estimation ◽  
High Speed ◽  
Trajectory Control

Verification of Acoustic-Wave-Oriented Simple State Estimation and Application to Swarm Navigation

2021 ◽  
Vol 33 (1) ◽  
pp. 119-128
Author(s):  
Tomoha Kida ◽  
◽  
Yuichiro Sueoka ◽  
Hiro Shigeyoshi ◽  
Yusuke Tsunoda ◽  
...  
Keyword(s):  
State Estimation ◽  
Disaster Response ◽  
High Speed ◽  
Behavioral Control ◽  
Group Behavior ◽  
Sound Waves ◽  
Swarm Robots ◽  
Swarming Behavior ◽  
High Speed Image Processing ◽  
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Cooperative swarming behavior of multiple robots is advantageous for various disaster response activities, such as search and rescue. This study proposes an idea of communication of information between swarm robots, especially for estimating the orientation and direction of each robot, to realize decentralized group behavior. Unlike the conventional camera-based systems, we developed robots equipped with a speaker array system and a microphone system to utilize the time difference of arrival (TDoA). Sound waves outputted by each robot was used to estimate the relative direction and orientation. In addition, we attempt to utilize two characteristics of sound waves in our experiments, namely, diffraction and superposition. This paper also investigates the accuracy of state estimation in cases where the robots output sounds simultaneously and are not visible to each other. Finally, we applied our method to achieve behavioral control of a swarm of five robots, and demonstrated that the leader robot and follower robots exhibit good alignment behavior. Our methodology is useful in scenarios where steps or obstacles are present, in which cases camera-based systems are rendered unusable because they require each robot to be visible to each other in order to collect or share information. Furthermore, camera-based systems require expensive devices and necessitate high-speed image processing. Moreover, our method is applicable for behavioral control of swarm robots in water.

Realization of high-speed adaptive quantum state estimation

2019 ◽  
Vol 58 (7) ◽  
pp. 072001
Author(s):  
Saki Nohara ◽  
Ryo Okamoto ◽  
Koichi Yamagata ◽  
Akio Fujiwara ◽  
Shigeki Takeuchi
Keyword(s):  
State Estimation ◽  
Quantum State ◽  
High Speed ◽  
Quantum State Estimation

A Robust Anti-Swing Trajectory Control of Overhead Cranes With High-Speed Load Hoisting: Simulation Study

2009 ◽  
Author(s):  
Ho-Hoon Lee
Keyword(s):  
High Speed ◽  
Trajectory Control ◽  
Design Tool ◽  
Sliding Surface ◽  
Tracking Errors ◽  
New Approach ◽  
Overhead Cranes ◽  
Control Scheme ◽  
The Stability ◽  
Load Swing

This paper proposes a new approach for the anti-swing trajectory control of overhead cranes that allows simultaneous high-speed load hoisting. The objective of this study is to design an anti-swing trajectory control scheme that is robust to unavoidable mechanical inaccuracies and installation errors such as locally sloped trolley rails. First, a coupled sliding surface is defined based on the load-swing dynamics, and then the stability of the coupled sliding surface is shown to be equivalent to that of trolley tracking errors. Next, a robust anti-swing trajectory control scheme, minimizing the coupled sliding surface asymptotically to zero, is designed based on the trolley and load-hoisting dynamics. Finally, the proposed control is extended to an adaptive scheme. In this study, the Lyapunov stability theorem is used as a mathematical design tool. The proposed control guarantees asymptotic stability of the anti-swing trajectory control while keeping all internal signals bounded. The proposed control provides a practical solution for the robustness problem caused by the usual mechanical inaccuracies and installation errors in application. The proposed control also provides clear gain-tuning criteria for easy application. The validity of the theoretical results is shown by computer simulation.

A Sliding-Mode Antiswing Trajectory Control for Overhead Cranes With High-Speed Load Hoisting

2006 ◽  
Vol 128 (4) ◽  
pp. 842-845 ◽  
Author(s):  
Ho-Hoon Lee ◽  
Yi Liang ◽  
Del Segura
Keyword(s):  
High Frequency ◽  
High Speed ◽  
Sliding Mode ◽  
Trajectory Control ◽  
Overhead Cranes ◽  
Damping Control ◽  
Control Scheme ◽  
Planning Scheme ◽  
Load Swing ◽  
High Frequency Sampling

In this paper we propose a sliding-mode antiswing control for overhead cranes. The objective of this study is to realize an antiswing trajectory control with high-speed load hoisting. A sliding-mode antiswing trajectory control scheme is designed based on the Lyapunov stability theorem, where a sliding surface, coupling the trolley motion with load swing, is adopted for a direct damping control of load swing. The proposed control guarantees asymptotic stability while keeping all internal signals bounded. In association with a new antiswing motion planning scheme, the proposed control realizes a typical antiswing trajectory control in practice, allowing high-speed load-hoisting motion and sufficient damping of load swing. The proposed control is simple for a real-time implementation with high-frequency sampling. The effectiveness of the proposed control has been confirmed by experiments.

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