CPS: Small: Cyber-Physical Communication for Cooperative Human-Robot Mobility

CPS：小型：用于协作人机移动的网络物理通信

基本信息

批准号：
1739525
负责人：
Ella Atkins
金额：
$ 50万
依托单位：
Regents of the University of Michigan - Ann Arbor
依托单位国家：
美国
项目类别：
Standard Grant
财政年份：
2017
资助国家：
美国
起止时间：
2017-09-01 至 2021-08-31
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=1739525&HistoricalAwards=false
关键词：
CPS Small Cyber Physical Communication

项目摘要

Human-robot teams engaged in transportation and data collection will often share a common physical workspace. This project will investigate fundamental challenges in human-cyberphysical-systems (h-CPS) for cooperative aerial payload transport. First, Unmanned Aerial Vehicles (UAVs) cooperatively lift and carry a payload through a cluttered environment under uncertain winds. The multi-UAV system (MUS) functions autonomously to allow human companions to focus attention on their environment while interacting with the MUS. We propose a novel interface where an operator pushes on the slung payload to guide the team and coordinates the mission through a networked tablet. A novel cooperative control strategy safely guides the MUS while physics-based algorithms distinguish human inputs from environmental disturbances. Flight tests will demonstrate and validate the h-CPS. The PI and mentored postdoctoral researcher will involve students from under-represented groups and K-12 students in safe MUS flight demonstrations.This project offers three research advances: MUS scalability and collision avoidance guarantees through continuum deformation cooperative control, safe MUS compensation for vehicle anomalies, and cognitively-tractable user interfaces. Particularly novel to this work is the h-CPS interface in which an operator pushes on the payload to guide the MUS team. We will apply linear momentum analysis to sense haptic cues and will validate our models in simulation and flight testing. Mission-level decision-making will be performed through system modeling as a Markov game in which game states are de&#64257;ned from human, environment, and aggregate MUS state. Our method abstracts MUS behaviors to reduce cognitive complexity and real-time network and computational overhead.

从事运输和数据收集的人类机器人团队通常会共享一个共同的物理工作空间。该项目将调查人类 - 疗养机系统（H-CP）的基本挑战，以进行合作空中有效载荷运输。首先，无人驾驶汽车（UAVS）合作举起并通过不确定的风中的混乱环境携带有效载荷。多动物系统（MUS）的功能自主起，使人类同伴在与MUS互动的同时将注意力集中在其环境上。我们提出了一个新颖的界面，操作员推向链有效载荷，以指导团队并通过网络平板电脑协调任务。一种新型的合作控制策略可以安全地指导MUS，而基于物理的算法则将人类投入与环境干扰区分开。飞行测试将证明并验证H-CPS。 PI和指导的博士后研究人员将使来自代表性不足的群体和K-12学生的学生参加安全的MUS飞行示范。该项目提供了三个研究进展：MUS可扩展性和碰撞避免通过连续的合作协同控制，安全的车辆异常，以及可认识的可触发性用户界面。这项工作特别是新颖的是H-CPS界面，操作员在该界面上推动有效载荷以指导MUS团队。我们将应用线性动量分析来感知触觉提示，并将在模拟和飞行测试中验证我们的模型。任务级决策将通过系统建模作为马尔可夫游戏进行，其中游戏状态是人类，环境和总体群体状态的DE＆＃64257; NED。我们的方法摘要MUS行为以降低认知复杂性，实时网络和计算开销。

项目成果

期刊论文数量（7）

专著数量（0）

科研奖励数量（0）

会议论文数量（0）

专利数量（0）

Formal Specification of Continuum Deformation Coordination

DOI：
10.23919/acc.2019.8814645
发表时间：
2019-07
期刊：
2019 American Control Conference (ACC)
影响因子：
0
作者：
H. Rastgoftar;Jean-Baptiste Jeannin;E. Atkins
通讯作者：
H. Rastgoftar;Jean-Baptiste Jeannin;E. Atkins

Experimental Evaluation of Continuum Deformation with a Five Quadrotor Team

DOI：
10.23919/acc.2019.8815266
发表时间：
2018-09
期刊：
2019 American Control Conference (ACC)
影响因子：
0
作者：
Matthew Romano;Prince Kuevor;Derek Lukacs;Owen Marshall;Mia N. Stevens;H. Rastgoftar;J. Cutler;E. Atkins
通讯作者：
Matthew Romano;Prince Kuevor;Derek Lukacs;Owen Marshall;Mia N. Stevens;H. Rastgoftar;J. Cutler;E. Atkins

Nailed It: Autonomous Roofing with a Nailgun-Equipped Octocopter

成功了：使用配备钉枪的八轴飞行器实现自主屋顶