Vision-based Cooperative Control Experiment...System Configuration System Overview 11 Vision-based...
8
Tokyo Institute of Technology Fujita Laboratory Vision-based Cooperative Control Experiment Takahide Goto FL08-14-1 2008-10-16 1 Tokyo Institute of Technology Fujita Laboratory Vision-based Cooperative Control Experiment Table of Contents Introduction System Overview Voronoi-based Coverage Control Onboard Camera Wii Remote Operation Summary 2 Tokyo Institute of Technology Fujita Laboratory Vision-based Cooperative Control Experiment Outline Introduction Cooperative Control System Overview Voronoi-based Coverage Control Onboard Camera Wii Remote Operation Summary Introduction 3 Tokyo Institute of Technology Fujita Laboratory Vision-based Cooperative Control Experiment Cooperative Control A distributed control strategy that achieves specified tasks in multi-agent systems It has been motivated by interests in group behavior of animals, formation control of multi-vehicle systems, and so on ©James Jordan http://www.flickr.com/ Introduction 4 Tokyo Institute of Technology Fujita Laboratory Vision-based Cooperative Control Experiment Cooperative Control It is hoped to be applied to sensor networks, robot networks and many other multi-agents systems Introduction Coverage Control Pose Synchronization 5 Tokyo Institute of Technology Fujita Laboratory Vision-based Cooperative Control Experiment Outline Introduction System Overview e-nuvo WHEEL System Configuration Previous Experiments Voronoi-based Coverage Control Onboard Camera Wii Remote Operation Summary System Overview
Transcript of Vision-based Cooperative Control Experiment...System Configuration System Overview 11 Vision-based...
Tokyo Institute of Technology Fujita Laboratory
Vision-basedCooperative Control Experiment
Takahide Goto
FL08-14-12008-10-16
1 Tokyo Institute of Technology Fujita Laboratory
Vision-based Cooperative Control Experiment
Table of Contents
IntroductionSystem OverviewVoronoi-based Coverage ControlOnboard CameraWii Remote OperationSummary
2 Tokyo Institute of Technology Fujita Laboratory
Vision-based Cooperative Control Experiment
Outline
IntroductionCooperative Control
System OverviewVoronoi-based Coverage ControlOnboard CameraWii Remote OperationSummary
Introduction
3 Tokyo Institute of Technology Fujita Laboratory
Vision-based Cooperative Control Experiment
Cooperative Control
A distributed control strategy that achieves specified tasks in multi-agent systemsIt has been motivated by interests in group behavior of animals, formation control of multi-vehicle systems, and so on
©James Jordanhttp://www.flickr.com/
Introduction
4 Tokyo Institute of Technology Fujita Laboratory
Vision-based Cooperative Control Experiment
Cooperative Control
It is hoped to be applied to sensor networks, robot networks and many other multi-agents systems
Introduction
Coverage Control Pose Synchronization
5 Tokyo Institute of Technology Fujita Laboratory
Vision-based Cooperative Control Experiment
Outline
IntroductionSystem Overview
e-nuvo WHEELSystem ConfigurationPrevious Experiments
Voronoi-based Coverage ControlOnboard CameraWii Remote OperationSummary
System Overview
6 Tokyo Institute of Technology Fujita Laboratory
Vision-based Cooperative Control Experiment
e-nuvo WHEEL
Mobile Wheeled Inverted PendulumIt is internally-stabilized by the LQ controllerWe can send the target values (v, ω) via wireless LAN
System Overview
7 Tokyo Institute of Technology Fujita Laboratory
Vision-based Cooperative Control Experiment
e-nuvo WHEEL
Kinematic modele-nuvo WHEEL is regarded as a unicycle robot(v, ω) are controllableIt has a nonholonomic constraint
System Overview
Constraint:
8 Tokyo Institute of Technology Fujita Laboratory
Vision-based Cooperative Control Experiment
System ConfigurationSystem Overview
9 Tokyo Institute of Technology Fujita Laboratory
Vision-based Cooperative Control Experiment
System Configuration
Controller: CentralizedInformation Acquisition: Centralized or Distributed
System Overview
Bird’s Eye CameraCentralized
Onboard CameraDistributed
10 Tokyo Institute of Technology Fujita Laboratory
Vision-based Cooperative Control Experiment
System ConfigurationSystem Overview
11 Tokyo Institute of Technology Fujita Laboratory
Vision-based Cooperative Control Experiment
Previous ExperimentsSystem Overview
Attitude Synchronization Leader Following
12 Tokyo Institute of Technology Fujita Laboratory
Vision-based Cooperative Control Experiment
Outline
IntroductionSystem OverviewVoronoi-based Coverage Control
Voronoi DiagramLloyd’s AlgorithmEquilibrium BifurcationExperiments
Onboard CameraWii Remote OperationSummary
Voronoi-based Coverage Control
13 Tokyo Institute of Technology Fujita Laboratory
Vision-based Cooperative Control Experiment
Coverage Control
The goalAll mobile agents, placed initially at random, spread out as much as possible (efficiently) over a given area
CharacteristicsLarge scale of deployment Ability to withstand changes in environmentAbility to cope with node failures
ApplicationSensor networkEnvironmental monitoringSurveillance robotsetc
Voronoi-based Coverage Control
14 Tokyo Institute of Technology Fujita Laboratory
Vision-based Cooperative Control Experiment
Voronoi Diagram
Voronoi Cell Vi: The set of all points x whose distance from pi is less then or
equal to the distances form all other pj
Voronoi Diagram V:
Voronoi-based Coverage Control
: Distance Function
: Set of Points
15 Tokyo Institute of Technology Fujita Laboratory
Vision-based Cooperative Control Experiment
Voronoi DiagramVoronoi-based Coverage Control
Coloured 2D Voronoi diagramGNU Free Documentation License
16 Tokyo Institute of Technology Fujita Laboratory
Vision-based Cooperative Control Experiment
Voronoi Diagram
Such a diagram is often found as a territory behavior of nearly all major groups of organisms on the planet
Voronoi-based Coverage Control
Kamogawa, Kyoto
http://www.c-player.com/ac87205/thread/1100069985225
Water Strider
17 Tokyo Institute of Technology Fujita Laboratory
Vision-based Cooperative Control Experiment
Lloyd’s Algorithm
The method for evenly distributing nodes 1. Construct Voronoi Partition Vi, generated by pi
2. Update pi to be the centroid of Vi
3. Return to step 1. until convergence
Example (1D)
Voronoi-based Coverage Control
1 2 31 2 3
18 Tokyo Institute of Technology Fujita Laboratory
Vision-based Cooperative Control Experiment
Experiment SystemVoronoi-based Coverage Control
19 Tokyo Institute of Technology Fujita Laboratory
Vision-based Cooperative Control Experiment
Modeling
Consider N agents in a rectangular domain D with sides of length 1 and L
Voronoi-based Coverage Control
20 Tokyo Institute of Technology Fujita Laboratory
Vision-based Cooperative Control Experiment
Modeling
Voronoi cell for agent i at time step n is
with centroid
Agent i’s location at time step n+1 is
Voronoi-based Coverage Control
: the position of agent i
21 Tokyo Institute of Technology Fujita Laboratory
Vision-based Cooperative Control Experiment
a b c d
Modeling
Now we are interested in equilibrium configurations, that is, those for which
Such equilibria can be stable or unstable
Example (N=3, L=0.80)
Voronoi-based Coverage Control
22 Tokyo Institute of Technology Fujita Laboratory
Vision-based Cooperative Control Experiment
Unicycle Controller
e-nuvo WHEEL is used as a agent in experiment→ We have to design the controller to move it to an arbitrary
point
Astolfi’s Controller
Voronoi-based Coverage Control
: Gain
23 Tokyo Institute of Technology Fujita Laboratory
Vision-based Cooperative Control Experiment
Coverage Control ExperimentVoronoi-based Coverage Control
24 Tokyo Institute of Technology Fujita Laboratory
Vision-based Cooperative Control Experiment
Equilibrium Bifurcation Analysis
We treat L as a bifurcation parameterThe bifurcation results are independent of MBifurcation detection is performed by monitoring the eigenvalues of the linearized equations directlyAs a measure of an equilibrium configuration, we use
Where is the center of the domain D
Voronoi-based Coverage Control
25 Tokyo Institute of Technology Fujita Laboratory
Vision-based Cooperative Control Experiment
Equilibria Stability on 3 Agents
0.2 0.4 0.6 0.8 100
0.2
0.1
0.3
0.4
L
S
Voronoi-based Coverage Control
UnstableStable
26 Tokyo Institute of Technology Fujita Laboratory
Vision-based Cooperative Control Experiment
Equilibria Stability on 3 Agents
0.2 0.4 0.6 0.8 100
0.2
0.1
0.3
0.4
L
S
Voronoi-based Coverage Control
UnstableStable
27 Tokyo Institute of Technology Fujita Laboratory
Vision-based Cooperative Control Experiment
Bifurcation Experiment (Shrink)Voronoi-based Coverage Control
28 Tokyo Institute of Technology Fujita Laboratory
Vision-based Cooperative Control Experiment
Bifurcation Experiment (Stretch)Voronoi-based Coverage Control
29 Tokyo Institute of Technology Fujita Laboratory
Vision-based Cooperative Control Experiment
Bifurcation Experiment (Constant L)
L = 0.45
Voronoi-based Coverage Control
0.2 0.4 0.6 0.8 100
0.2
0.1
0.3
0.4
L
S
30 Tokyo Institute of Technology Fujita Laboratory
Vision-based Cooperative Control Experiment
Bifurcation Experiment (Constant L)
L = 0.70
Voronoi-based Coverage Control
0.2 0.4 0.6 0.8 100
0.2
0.1
0.3
0.4
L
S
31 Tokyo Institute of Technology Fujita Laboratory
Vision-based Cooperative Control Experiment
Outline
IntroductionSystem OverviewVoronoi-based Coverage ControlOnboard Camera
SpecificationExperiment SystemControl LawExperiment
Wii Remote OperationSummary
Onboard Camera
32 Tokyo Institute of Technology Fujita Laboratory
Vision-based Cooperative Control Experiment
Onboard Camera Specification
RF System RC-12Wireless Small Camera(15×18×35mm) 270,000 pixels
Onboard Camera
33 Tokyo Institute of Technology Fujita Laboratory
Vision-based Cooperative Control Experiment
Onboard Camera Specification
Image example
Onboard Camera
34 Tokyo Institute of Technology Fujita Laboratory
Vision-based Cooperative Control Experiment
Experiment SystemOnboard Camera
35 Tokyo Institute of Technology Fujita Laboratory
Vision-based Cooperative Control Experiment
Information Acquisition
Measuring area and horizontal deviation of the target
Onboard Camera
36 Tokyo Institute of Technology Fujita Laboratory
Vision-based Cooperative Control Experiment
The control input to follow the target:
If the area of target is very large, the follower stops to avoidcollision
If the follower loses the target, the control input is maintained at the last value
The follower acts like a search behaviorThis rule also eliminates the effect of fraction
Control LawOnboard Camera
37 Tokyo Institute of Technology Fujita Laboratory
Vision-based Cooperative Control Experiment
ExperimentOnboard Camera
38 Tokyo Institute of Technology Fujita Laboratory
Vision-based Cooperative Control Experiment
Outline
IntroductionSystem OverviewVoronoi-based Coverage ControlOnboard CameraWii Remote Operation
FeaturesMeasurement of TiltRobot Operating SystemExperiment
Summary
Wii Remote Operation
39 Tokyo Institute of Technology Fujita Laboratory
Vision-based Cooperative Control Experiment
Main Features
The primary controller for Nintendo's Wii console Wireless communication with the console via BluetoothArrow key and 7 buttonsAccelerometer to sense acceleration along 3 axesOptical sensor to determine where the Wii Remote is pointing
Wii Remote Operation
Wii www.nintendo.co.jp
Wii Remote
40 Tokyo Institute of Technology Fujita Laboratory
Vision-based Cooperative Control Experiment
Why Wii Remote?
Intuitive interface of robot operationBuilding the operator into the feedback loop (human-in-the-loop)
Wii Remote Operation
41 Tokyo Institute of Technology Fujita Laboratory
Vision-based Cooperative Control Experiment
Measurement of TiltWii Remote Operation
42 Tokyo Institute of Technology Fujita Laboratory
Vision-based Cooperative Control Experiment
Robot Operating SystemWii Remote Operation
43 Tokyo Institute of Technology Fujita Laboratory
Vision-based Cooperative Control Experiment
Robot Operating SystemWii Remote Operation
44 Tokyo Institute of Technology Fujita Laboratory
Vision-based Cooperative Control Experiment
Robot Operating ExperimentWii Remote Operation
45 Tokyo Institute of Technology Fujita Laboratory
Vision-based Cooperative Control Experiment
Outline
IntroductionSystem OverviewVoronoi-based Coverage ControlOnboard CameraWii Remote OperationSummary
Summary
46 Tokyo Institute of Technology Fujita Laboratory
Vision-based Cooperative Control Experiment
Summary
Voronoi-based Coverage ControlCoverage AlgorithmEquilibrium Bifurcation AnalysisExperiments
Onboard CameraInformation AcquisitionControl Law of Following the ballExperiment
Wii Remote OperationMeasurement of TiltRobot Operating Experiment
Summary
47 Tokyo Institute of Technology Fujita Laboratory
Vision-based Cooperative Control Experiment
Future Works
Visual ObserverDistributed ControllerHuman-in-the-loop
Summary
