A passivity-based decentralized strategy for generalized connectivity maintenance

Robuffo Giordano, Paolo,Franchi, Antonio,Seccos, Christian,Bü,lthoff, Heinrich H SAGE Publications 2013 The International journal of robotics research Vol.32 No.3

<P>The design of decentralized controllers coping with the typical constraints on the inter-robot sensing/communication capabilities represents a promising direction in multi-robot research thanks to the inherent scalability and fault tolerance of these approaches. In these cases, <I>connectivity</I> of the underlying interaction graph plays a fundamental role: it represents a necessary condition for allowing a group or robots to achieve a common task by resorting to only local information. The goal of this paper is to present a novel decentralized strategy able to enforce <I>connectivity maintenance</I> for a group of robots in a flexible way, that is, by granting large freedom to the group internal configuration so as to allow establishment/deletion of interaction links at anytime as long as global connectivity is preserved. A peculiar feature of our approach is that we are able to embed into a <I>unique connectivity preserving action</I> a large number of constraints and requirements for the group: (i) the presence of specific inter-robot sensing/communication models; (ii) group requirements such as formation control; and (iii) individual requirements such as collision avoidance. This is achieved by defining a suitable global potential function of the second smallest eigenvalue λ<SUB>2</SUB> of the graph Laplacian, and by computing, in a decentralized way, a gradient-like controller built on top of this potential. Simulation results obtained with a group of quadrotor unmanned aerial vehicles (UAVs) and unmanned ground vehicles, and experimental results obtained with four quadrotor UAVs, are finally presented to thoroughly illustrate the features of our approach on a concrete case study.</P>

Predicting direction detection thresholds for arbitrary translational acceleration profiles in the horizontal plane

Soyka, Florian,Robuffo Giordano, Paolo,Beykirch, Karl,Bü,lthoff, Heinrich H. Springer-Verlag 2011 Experimental brain research Vol.209 No.1

<P>In previous research, direction detection thresholds have been measured and successfully modeled by exposing participants to sinusoidal acceleration profiles of different durations. In this paper, we present measurements that reveal differences in thresholds depending not only on the duration of the profile, but also on the actual time course of the acceleration. The measurements are further explained by a model based on a transfer function, which is able to predict direction detection thresholds for all types of acceleration profiles. In order to quantify a participant’s ability to detect the direction of motion in the horizontal plane, a four-alternative forced-choice task was implemented. Three types of acceleration profiles (sinusoidal, trapezoidal and triangular) were tested for three different durations (1.5, 2.36 and 5.86 s). To the best of our knowledge, this is the first study which varies both quantities (profile and duration) in a systematic way within a single experiment. The lowest thresholds were found for trapezoidal profiles and the highest for triangular profiles. Simulations for frequencies lower than the ones actually measured predict a change from this behavior: Sinusoidal profiles are predicted to yield the highest thresholds at low frequencies. This qualitative prediction is only possible with a model that is able to predict thresholds for different types of acceleration profiles. Our modeling approach represents an important advancement, because it allows for a more general and accurate description of perceptual thresholds for simple and complex translational motions.</P>

Modeling direction discrimination thresholds for yaw rotations around an earth-vertical axis for arbitrary motion profiles

Soyka, Florian,Giordano, Paolo Robuffo,Barnett-Cowan, Michael,Bü,lthoff, Heinrich H. Springer-Verlag 2012 Experimental brain research Vol.220 No.1

<P>Understanding the dynamics of vestibular perception is important, for example, for improving the realism of motion simulation and virtual reality environments or for diagnosing patients suffering from vestibular problems. Previous research has found a dependence of direction discrimination thresholds for rotational motions on the period length (inverse frequency) of a transient (single cycle) sinusoidal acceleration stimulus. However, self-motion is seldom purely sinusoidal, and up to now, no models have been proposed that take into account non-sinusoidal stimuli for rotational motions. In this work, the influence of both the period length and the specific time course of an inertial stimulus is investigated. Thresholds for three acceleration profile shapes (triangular, sinusoidal, and trapezoidal) were measured for three period lengths (0.3, 1.4, and 6.7 s) in ten participants. A two-alternative forced-choice discrimination task was used where participants had to judge if a yaw rotation around an earth-vertical axis was leftward or rightward. The peak velocity of the stimulus was varied, and the threshold was defined as the stimulus yielding 75 % correct answers. In accordance with previous research, thresholds decreased with shortening period length (from ~2 deg/s for 6.7 s to ~0.8 deg/s for 0.3 s). The peak velocity was the determining factor for discrimination: Different profiles with the same period length have similar velocity thresholds. These measurements were used to fit a novel model based on a description of the firing rate of semi-circular canal neurons. In accordance with previous research, the estimates of the model parameters suggest that velocity storage does not influence perceptual thresholds.</P>

A Novel Overactuated Quadrotor Unmanned Aerial Vehicle: Modeling, Control, and Experimental Validation

Ryll, Markus,Bulthoff, Heinrich H.,Giordano, Paolo Robuffo Institute of Electrical and Electronics Engineers 2015 IEEE transactions on control systems technology Vol. No.

<P>Standard quadrotor unmanned aerial vehicles (UAVs) possess a limited mobility because of their inherent underactuation, that is, availability of four independent control inputs (the four propeller spinning velocities) versus the 6 degrees of freedom parameterizing the quadrotor position/orientation in space. Thus, the quadrotor pose cannot track arbitrary trajectories in space (e.g., it can hover on the spot only when horizontal). Because UAVs are more and more employed as service robots for interaction with the environment, this loss of mobility due to their underactuation can constitute a limiting factor. In this paper, we present a novel design for a quadrotor UAV with tilting propellers which is able to overcome these limitations. Indeed, the additional set of four control inputs actuating the propeller tilting angles is shown to yield full actuation to the quadrotor position/orientation in space, thus allowing it to behave as a fully actuated flying vehicle. We then develop a comprehensive modeling and control framework for the proposed quadrotor, and subsequently illustrate the hardware and software specifications of an experimental prototype. Finally, the results of several simulations and real experiments are reported to illustrate the capabilities of the proposed novel UAV design.</P>

Decentralized rigidity maintenance control with range measurements for multi-robot systems

Zelazo, Daniel,Franchi, Antonio,Bü,lthoff, Heinrich H.,Robuffo Giordano, Paolo SAGE Publications 2015 The International journal of robotics research Vol.34 No.1

<P>This work proposes a fully decentralized strategy for maintaining the formation rigidity of a multi-robot system using only range measurements, while still allowing the graph topology to change freely over time. In this direction, a first contribution of this work is an extension of rigidity theory to <I>weighted frameworks</I> and the <I>rigidity eigenvalue</I>, which when positive ensures the infinitesimal rigidity of the framework. We then propose a distributed algorithm for estimating a common relative position reference frame amongst a team of robots with only range measurements in addition to one agent endowed with the capability of measuring the bearing to two other agents. This first estimation step is embedded into a subsequent distributed algorithm for estimating the rigidity eigenvalue associated with the weighted framework. The estimate of the rigidity eigenvalue is finally used to generate a local control action for each agent that both maintains the rigidity property and enforces additional constraints such as collision avoidance and sensing/communication range limits and occlusions. As an additional feature of our approach, the communication and sensing links among the robots are also left free to change over time while preserving rigidity of the whole framework. The proposed scheme is then experimentally validated with a robotic testbed consisting of six quadrotor unmanned aerial vehicles operating in a cluttered environment.</P>

Semiautonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles

Dongjun Lee,Franchi, Antonio,Hyoung Il Son,ChangSu Ha,Bulthoff, Heinrich H.,Giordano, Paolo Robuffo IEEE 2013 IEEE/ASME transactions on mechatronics Vol.18 No.4

<P>We propose a novel semiautonomous haptic teleoperation control architecture for multiple unmanned aerial vehicles (UAVs), consisting of three control layers: 1) UAV control layer, where each UAV is abstracted by, and is controlled to follow the trajectory of, its own kinematic Cartesian virtual point (VP); 2) VP control layer, which modulates each VP's motion according to the teleoperation commands and local artificial potentials (for VP-VP/VP-obstacle collision avoidance and VP-VP connectivity preservation); and 3) teleoperation layer, through which a single remote human user can command all (or some) of the VPs' velocity while haptically perceiving the state of all (or some) of the UAVs and obstacles. Master passivity/slave stability and some asymptotic performance measures are proved. Experimental results using four custom-built quadrotor-type UAVs are also presented to illustrate the theory.</P>

Nonlinear ego-motion estimation from optical flow for online control of a quadrotor UAV

Grabe, Volker,Bü,lthoff, Heinrich H.,Scaramuzza, Davide,Giordano, Paolo Robuffo SAGE Publications 2015 The International journal of robotics research Vol.34 No.8

<P>For the control of unmanned aerial vehicles (UAVs) in GPS-denied environments, cameras have been widely exploited as the main sensory modality for addressing the UAV state estimation problem. However, the use of visual information for ego-motion estimation presents several theoretical and practical difficulties, such as data association, occlusions, and lack of direct metric information when exploiting monocular cameras. In this paper, we address these issues by considering a quadrotor UAV equipped with an onboard monocular camera and an inertial measurement unit (IMU). First, we propose a robust ego-motion estimation algorithm for recovering the UAV scaled linear velocity and angular velocity from optical flow by exploiting the so-called <I>continuous</I> homography constraint in the presence of planar scenes. Then, we address the problem of retrieving the (unknown) metric scale by fusing the visual information with measurements from the onboard IMU. To this end, two different estimation strategies are proposed and critically compared: a first exploiting the classical extended Kalman filter (EKF) formulation, and a second one based on a novel nonlinear estimation framework. The main advantage of the latter scheme lies in the possibility of imposing a <I>desired</I> transient response to the estimation error when the camera moves with a constant acceleration norm with respect to the observed plane. We indeed show that, when compared against the EKF on the same trajectory and sensory data, the nonlinear scheme yields considerably superior performance in terms of convergence rate and predictability of the estimation. The paper is then concluded by an extensive experimental validation, including an onboard closed-loop control of a real quadrotor UAV meant to demonstrate the robustness of our approach in real-world conditions.</P>

Modeling and Control of UAV Bearing Formations with Bilateral High-level Steering

Franchi, Antonio,Masone, Carlo,Grabe, Volker,Ryll, Markus,Bü,lthoff, Heinrich H,Giordano, Paolo Robuffo SAGE Publications 2012 The International journal of robotics research Vol.31 No.12