Corpus ID: 237490812

Learning and Leveraging Environmental Features to Improve Robot Awareness

@article{Salam2021LearningAL,
  title={Learning and Leveraging Environmental Features to Improve Robot Awareness},
  author={Tahiya Salam and Victoria Edwards and M. A. Hsieh},
  journal={ArXiv},
  year={2021},
  volume={abs/2109.06107}
}
This paper studies how global dynamics can inform path planning and decision-making for robots. Specifically, we investigate how coherent sets, an environmental feature found in flow-like environments, informs robot awareness within these scenarios. We compute coherent sets online with techniques from machine learning, and design a framework for robot behavior that uses coherent sets. We demonstrate the effectiveness of online methods over offline methods. Notably, we apply these online methods… Expand

Figures and Tables from this paper

References

SHOWING 1-10 OF 42 REFERENCES
Controlling Basin Breakout for Robots Operating in Uncertain Flow Environments
TLDR
It is experimentally shown that the proposed control strategy exhibits a predictable exponential scaling of escape times and is effective even in situations where the structure of the flow is not fully known, there exist significant stochastic fluctuations, and control effort is costly. Expand
Active Learning of Dynamics for Data-Driven Control Using Koopman Operators
This paper presents an active learning strategy for robotic systems that takes into account task information, enables fast learning, and allows control to be readily synthesized by taking advantageExpand
Episodic Koopman Learning of Nonlinear Robot Dynamics with Application to Fast Multirotor Landing
TLDR
A novel episodic method to learn a robot’s nonlinear dynamics model and an increasingly optimal control sequence for a set of tasks based on the Koopman operator approach to nonlinear dynamical systems analysis. Expand
Model-Based Control Using Koopman Operators
TLDR
It is illustrated how the Koopman operator can be used to obtain a linearizable data-driven model for an unknown dynamical process that is useful for model-based control synthesis. Expand
Distributed allocation of mobile sensing agents in geophysical flows
TLDR
This work addresses the synthesis of distributed control policies to enable a homogeneous team of mobile sensing agents to maintain a desired spatial distribution in a geophysical flow environment by designing agent-level hybrid control policies that leverage the surrounding fluid dynamics and inherent environmental noise. Expand
You'll never walk alone: Modeling social behavior for multi-target tracking
TLDR
A model of dynamic social behavior, inspired by models developed for crowd simulation, is introduced, trained with videos recorded from birds-eye view at busy locations, and applied as a motion model for multi-people tracking from a vehicle-mounted camera. Expand
Optimal trajectory generation in ocean flows
In this paper it is shown that Lagrangian Coherent Structures (LCS) are useful in determining near optimal trajectories for autonomous underwater gliders in a dynamic ocean environment. This opensExpand
Lagrangian coherent structure assisted path planning for transoceanic autonomous underwater vehicle missions
TLDR
The capability of dynamical system theory for achieving real-time navigation strategy for the transoceanic AUV named Silbo, which is a Slocum deep-glider that crossed the North Atlantic from April 2016 to March 2017, is demonstrated. Expand
Modeling and Control of Soft Robots Using the Koopman Operator and Model Predictive Control
TLDR
This work describes this Koopman-based system identification method and its application to model predictive controller design, which yields an explicit control-oriented linear model rather than just a "black-box" input-output mapping. Expand
Set-based corral control in stochastic dynamical systems: making almost invariant sets more invariant.
TLDR
It is shown how the loitering time in almost invariant sets scales exponentially with respect to the control actuation, causing an exponential increase in Loitering times with only small changes in actuation force. Expand
...
1
2
3
4
5
...