Today read about writing reports — not terribly glam, but needs doing. Tomorrow we start on writing the aim of the thesis, so today is basically revision.
Note to self: this self-booting scientific environment looks handy: http://dirk.eddelbuettel.com/quantian.html
Some links on “traffic simulator” python:
- Java based traffic simulator: http://141.30.186.11/%7Etreiber/MicroApplet/index.html
- Go through the Wiki links on this page: http://www.mcs.vuw.ac.nz/cgi-bin/wiki/SimPy?action=edit&id=SimulationLinks from the SimPy website (a simulation language based on Python)
- PyODE an open-source Physics engine
- a Science Hobbyist page on why traffic happens: http://amasci.com/amateur/traffic/traffic1.html
- using PyGame to create a simulator …
- Traffic Microsimulation Suite PAMINA … with links to a cellular automata traffic simulator: http://www.the-rickerts.de/mr/PAMINA.html#PHYSICAA95
- Using Sumo, a Simulation of Urban Mobility, to model car models: link
… from Frii 25-Apr-2008:
Plan forwards currently looks like this:
Changes may happen — particularly due to submission date for PG conference — but this is where we are currently.
Leader-to-Formation Stability – Tanner, Pappas, Kumar (2003) (Correct) (3 citations)
topological structure with the target system. String stability [21]22]1] and mesh stability [23]the
[21]22]25] have used the notion of string stability in the frequency domain, string stability of
www.seas.upenn.edu/~pappasg/papers/IEEETRA-LFS.pdf
- String stability [21], [22], [1] and mesh stability [23], the latter being the generalization of the former in more than two dimensions
- T. Balch and R. Arkin, “Behavior-based formation control for multirobot systems,” IEEE Transactions on Robotics and Automation, vol. 14, no. 12, 1998.
- Go look at this one in IEEXPLORE: F. Giulietti, L. Pollini, and M. Innocenti, “Autonomous formation flight,” IEEE Control Systems Magazine, vol. 20, no. 6, pp. 34–44, 2000.
- holonomic definition: In robotics holonomicity refers to the relationship between the controllable and total degrees of freedom of a given robot (or part thereof). If the controllable degrees of freedom are greater than or equal to the total degrees of freedom then the robot is said to be holonomic. If the controllable degrees of freedom are less than the total degrees of freedom it is non-holonomic. A robot is considered to be redundant if it has more controllable degrees of freedom than degrees of freedom in its task space. Holonomicity can be used to describe simple objects as well. For example, a car is non-holonomic because although it could physically move laterally, there is no mechanism to control this movement. A human arm, by contrast, is a holonomic, redundant system because it has 7 degrees of freedom (3 in the shoulder – rotations about each axis, 2 in the elbow – bending and rotation about the lower arm axis, and 2 in the wrist, bending up and down, and left and right) and there are only 6 physical degrees of freedom in the task of placing the hand (x, y, z, roll, pitch and yaw), while fixing the 7 degrees of freedom fixes the hand. See also sub-Riemannian geometry for a discussion of holonomic constraints in robotics. (from Wikipedia)
- - okay the maths from this is hairy-looking, but the images on page 8 and 9 discuss formations, which seem pretty useful – particularly the wedge formation
Behavior-based formation control for multirobot teams – all 11 versions »
T Balch, RC Arkin – Robotics and Automation, IEEE Transactions on, 1998 – ieeexplore.ieee.org
… Page 2. BALCH AND ARKIN: BEHAVIOR-BASED FORMATION CONTROL 927 Fig. … Page 4. BALCH
AND ARKIN: BEHAVIOR-BASED FORMATION CONTROL 929 negatively impact performance. …
Vision-based Follow-the-Leader (2003) (Make Corrections) (2 citations)
Noah Cowan, Omid Shakernia, René Vidal, Shankar Sastry
http://citeseer.ist.psu.edu/cowan03visionbased.html
- Vision seems to be a critical component in animals’ abilities to respond their neighbors’ motions so that the entire group maintains a coherent formation.
- Fredslund et al. [10] evaluate a heuristic method for solving the formation control problem using only local sensing.
Formation Control of Nonholonomic Mobile Robots with Omnidirectional Visual Servoing and Motion Segmentation (2003) (Make Corrections) (7 citations)
Rene Vidal, Omid Shakernia, Shankar Sastry
http://citeseer.ist.psu.edu/vidal03formation.html
Distributed Formation Control with Omnidirectional (Make Corrections)
Vision Based Motion Segmentation and Visual Servoing Rene Vidal Omid…
http://citeseer.ist.psu.edu/684309.html
Note to self: orange box packing optimisation / sphere packing
Lateral and longitudinal stability for decentralized formation control – all 6 versions »
DJ Naffin, M Akar, GS Sukhatme – Proceedings of the International Symposium on Distributed Autonomous Robotic Systems Distributed …, 2004 – Springer
- Swaroop and Hedrick [11] are often cited as the _rst to give formal de_nitions for string stable, exponentially string stable and lp string stable. (D. Swarrop and J. K. Hedrick. String stability of interconnected systems. IEEE Transactions on Automatic Control, 41(3):349{357, March 1996.)
- Canudas de Wit and Brogliato [2] provided a detailed overview of string stability and how various control polices and inter-vehicle spacing strategies a_ect string stability. Carlos Canudas de Wit and Bernard Brogliato. Stability issues for vehicle platooning in automated highway systems. In Proceedings of the IEEE International Conference on Control Applications, (Hawaii USA), pages 1377{1382, August 1999.
- Mesh stability is a property of interconnected systems whereby a disturbance is attenuated as it propagates from one subsystem to the next. For the one-dimensional case, this property is refereed to as string stability.
- Note this paper has an equation defining string stability
- our approach to formations require that the members of the platoons hold various bearings.
- Since all robots in a platoon must maintain the same heading as its platoon leader, it is assumed that this information is communicated to each robot in the platoon and that each robot has the ability to sense its global heading (via a compass, inertia measurements, etc.).
- they used USC’s Player robot server and the Gazebo simulator
- we have shown that linear bidirectional controller can be used to maintain platoons of robots and reject disturbances that may be introduced
- checkm???
NB Transfer Function tutorial for Matlab: http://www.me.cmu.edu/ctms/modeling/tutorial/transferfunction/mainframes.htm
[PDF] Vision-Based, Distributed Coordination of Multi-Agent Systems
N Moshtagh, A Jadbabaie, K Daniilidis – IEEE Conference on Robotics and Automation (submitted), …, 2005 – seas.upenn.edu
- T. Vicsek, A. Czirok, E. Ben Jacob, I. Cohen, and O. Schochet. Novel type of phase transitions in a system of self-driven particles. Physical Review Letters, 75:1226–1229, 1995.
- Many of the existing vision-based distributed control strategies assume that the robots are capable of communicating to their neighbors an estimation of their position [27], [34], [35]
- graph theory book: C. Godsil and G. Royle. Algebraic Graph Theory. Springer Graduate Texts in Mathematics # 207, New York, 2001.
- We provided a coordination scheme which results in flocking of all agents using nearest neighbor sensing, without the need for explicit communication between agents. The coordination scheme uses the relative bearings between each agent and its nearest neighbors, as well as time-to collision between neighboring agents. The resulting control law is reminiscent of the Kuramoto model of coupled nonlinear oscillators. So far we have analyzed flocking for a group of mobile agents in 2 dimensions.
From the PhD thesis found on Sun 20-Apr-2008:
The first vehicle of a platoon is called the platoon leader and its
role is to manage the platoon and guide it on the road at an undefined level of authority.
The other vehicles are called followers and their main goal is to maintain a specific distance in time with the preceding vehicle using information from sensor(s).
p6 shows diagrams of platoons splitting and entering the platoon
Potential car simulator program http://www.carsim.com/ also see notes in section 1.3.3
Thesis is well written, but wordy …
Demonstration of Integrated Longitudinal and Lateral Control for the Operation of Automated Vehicles in Platoons
Rajesh Rajamani, Member, IEEE, Han-Shue Tan, Boon Kait Law, and Wei-Bin Zhang
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, VOL. 8, NO. 4, JULY 2000
PDF] A Survey of Commercial & Open Source Unmanned Vehicle Simulators – all 3 versions »
J Craighead, R Murphy, J Burke – Robotics and Automation, 2007 IEEE International Conference …, 2007 – jeffcraighead.com
… Microsoft Robotics Studio – Microsoft’s Robotics Studio[25] provides a networkable,
service-based- architecture framework for developing real robots. …
Effects of communication delay on string stability in vehicleplatoons
X Liu, A Goldsmith, SS Mahal, JK Hedrick – Intelligent Transportation Systems, 2001. Proceedings. 2001 …, 2001 – ieeexplore.ieee.org
Pasted from <http://scholar.google.com/scholar?hl=en&lr=&cluster=16089492950925094723>
String stability analysis of adaptive cruise controlled vehicles
CY LIANG, H PENG – JSME international journal. Series C, Mechanical systems, …, 2000 – cat.inist.fr
Pasted from <http://scholar.google.com/scholar?hl=en&lr=&cluster=7586332182666566957>
See http://www-personal.umich.edu/~hpeng/JSME2000.pdf for PDF of paper
vehicle stream.
Modeling and Control of Formations of Nonholonomic Mobile Robots
JP Desai, JP Ostrowski, RV Kumar – IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2001 – repository.upenn.edu
Pasted from <http://scholar.google.com/scholar?hl=en&lr=&cluster=9580753416831202042>
Demonstration of an automated highway platoon system
Han-Shue Tan; Rajamani, R.; Wei-Bin Zhang;
American Control Conference, 1998. Proceedings of the 1998
Volume 3, 24-26 June 1998 Page(s):1823 – 1827 vol.3
[PDF] AUTOMATED HIGHWAY SYSTEMS: PLATOONS OF VEHICLES VIEWED AS A MULTIAGENT SYSTEM
S HALLE – theses.ulaval.ca
Pasted from <http://scholar.google.com/scholar?hl=en&lr=&cluster=2430493831008310297>
This is a thesis — seems quite readable
Blogged with Flock
