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Micro-mobility transport vehicles such as e-scooters are joining current sidewalk users and affect the safety and comfort of pedestrians as primary sidewalk users. The lack of agreed-upon metrics to quantify people's discomfort hinders shared public space safety research. We introduce perceived Time To Collision (TTC) as a potential metric of user discomfort performing controlled experiments using an e-scooter and a pedestrian moving in a hallway. The results strongly correlate the participant's reported discomfort and the perceived TTC. Therefore, TTC is a potential metric for public space users' discomfort. Since the metric only uses relative velocity and position information, it is a viable candidate for neighboring people's discomfort estimation in advanced driver assistance systems for e-scooters and PMVs. Our ongoing research extends the results to mobile robots., Comment: 6 pages, 7 figures, 1 table, IFAC 2023

Today, electric scooter is a trendy personal mobility vehicle. The rising demand and opportunities attract ride-share services. A common problem of such services is abandoned e-scooters. An autonomous e-scooter capable of moving to the charging station is a solution. This paper focuses on maintaining balance for these riderless e-scooters. The paper presents a nonlinear model for an e-scooter moving with simultaneously varying speed and steering. A PD and a feedback-linearized PD controller stabilize the model. The stability analysis shows that the controllers are ultimately bounded even with parameter uncertainties and measurement inaccuracy. Simulations on a realistic e-scooter with a general demanding path to follow verify the ultimate boundedness of the controllers. In addition, the feedback-linearized PD controller outperforms the PD controller because it has narrower ultimate bounds. Future work focuses on experiments using a self-balancing mechanism installed on an e-scooter., Comment: 7 pages, 4 figures, 1 table, In ACC2024

This paper investigates the resilient control, analysis, recovery, and operation of mobile robot networks in time-varying formation tracking under deception attacks on global positioning. Local and global tracking control algorithms are presented to ensure redundancy of the mobile robot network and to retain the desired functionality for better resilience. Lyapunov stability analysis is utilized to show the boundedness of the formation tracking error and the stability of the network under various attack modes. A performance index is designed to compare the efficiency of the proposed formation tracking algorithms in situations with or without positioning attacks. Subsequently, a communication-free decentralized cooperative localization approach based on extended information filters is presented for positioning estimate recovery where the identification of the positioning attacks is based on Kullback-Leibler divergence. A gain-tuning resilient operation is proposed to strategically synthesize the formation control and cooperative localization for accurate and rapid system recovery from positioning attacks. The proposed methods are tested using both numerical simulation and experimental validation with a team of quadrotors., Comment: 12 pages, 13 figures

In this paper, the issue of mixed-triggered reliable dissipative control is investigated for singular networked cascade control systems (NCCSs) with actuator saturation and randomly occurring cyber attacks. In order to utilize the limited communication resources effectively, a more general mixed-triggered scheme is established which includes both schemes namely time-triggered and event-triggered in a single framework. In particular, two main factors are incorporated to the proposed singular NCCS model namely, actuator saturation and randomly occurring cyber attack, which is an important role to damage the overall network security. By employing Lyapunov-Krasovskii stability theory, a new set of sufficient conditions in terms of linear matrix inequalities (LMIs) is derived to guarantee the singular NCCSs to be admissible and strictly (Q,S,R)-dissipative. Subsequently, a power plant boiler-turbine system based on a numerical example is provided to demonstrate the effectiveness of the proposed control scheme.