Search

This paper addresses the inverse optimal control for the linear quadratic tracking problem with a fixed but unknown target state, which aims to estimate the possible triplets comprising the target state, the state weight matrix, and the input weight matrix from observed optimal control input and the corresponding state trajectories. Sufficient conditions have been provided for the unique determination of both the linear quadratic cost function as well as the target state. A computationally efficient and numerically reliable parameter identification algorithm is proposed by equating optimal control strategies with a system of linear equations, and the associated relative error upper bound is derived in terms of data volume and signal-to-noise ratio. Moreover, the proposed inverse optimal control algorithm is applied for the joint cluster coordination and intent identification of a multi-agent system. By incorporating the structural constraint of the Laplace matrix, the relative error upper bound can be reduced accordingly. Finally, the algorithm's efficiency and accuracy are validated by a vehicle-on-a-lever example and a multi-agent formation control example.

Distributed parameter identification for large-scale multi-agent networks encounters challenges due to nonlinear dynamics and partial observations. Simultaneously, ensuring the stability is crucial for the robust identification of dynamic networks, especially under data and model uncertainties. To handle these challenges, this paper proposes a particle consensus-based expectation maximization (EM) algorithm. The E-step proposes a distributed particle filtering approach, using local observations from agents to yield global consensus state estimates. The M-step constructs a likelihood function with an a priori contraction-stabilization constraint for the parameter estimation of isomorphic agents. Performance analysis and simulation results of the proposed method confirm its effectiveness in identifying parameters for stable nonlinear networks.

This paper focuses on the identification of graphical autoregressive models with dynamical latent variables. The dynamical structure of latent variables is described by a matrix polynomial transfer function. Taking account of the sparse interactions between the observed variables and the low-rank property of the latent-variable model, a new sparse plus low-rank optimization problem is formulated to identify the graphical auto-regressive part, which is then handled using the trace approximation and reweighted nuclear norm minimization. Afterwards, the dynamics of latent variables are recovered from low-rank spectral decomposition using the trace norm convex programming method. Simulation examples are used to illustrate the effectiveness of the proposed approach.

Exploration systems are critical for enhancing the autonomy of robots. Due to the unpredictability of the future planning space, existing methods either adopt an inefficient greedy strategy or require a lot of resources to obtain a global solution. In this work, we address the challenge of obtaining global exploration routes with minimal computing resources. A hierarchical planning framework dynamically divides the planning space into subregions and arranges their orders to provide global guidance for exploration. Indicators that are compatible with the subregion order are used to choose specific exploration targets, thereby considering estimates of spatial structure and extending the planning space to unknown regions. Extensive simulations and field tests demonstrate the efficacy of our method in comparison to existing 2D LiDAR-based approaches. Our code has been made public for further investigation., Comment: Accepted in IEEE International Conference on Automation Science and Engineering (CASE) 2023

This paper introduces the united monocular-stereo features into a visual-inertial tightly coupled odometry (UMS-VINS) for robust pose estimation. UMS-VINS requires two cameras and a low-cost inertial measurement unit (IMU). The UMS-VINS is an evolution of VINS-FUSION, which modifies the VINS-FUSION from the following three perspectives. 1) UMS-VINS extracts and tracks features from the sub-pixel plane to achieve better positions of the features. 2) UMS-VINS introduces additional 2-dimensional features from the left and/or right cameras. 3) If the visual initialization fails, the IMU propagation is directly used for pose estimation, and if the visual-IMU alignment fails, UMS-VINS estimates the pose via the visual odometry. The performances on both public datasets and new real-world experiments indicate that the proposed UMS-VINS outperforms the VINS-FUSION from the perspective of localization accuracy, localization robustness, and environmental adaptability.

This paper considers the identification of large-scale 1D networks consisting of identical LTI dynamical systems. A new subspace identification method is developed that only uses local input-output information and does not rely on knowledge about the local state interaction. The identification of the local system matrices (up to a similarity transformation) is done via a low dimensional subspace retrieval step that enables the estimation of the Markov parameters of a locally lifted system. Using the estimated Markov parameters, the state-space realization of a single subsystem in the network is determined. The low dimensional subspace retrieval step exploits various key structural properties that are present in the data equation such as a low rank property and a {\em two-layer} Toeplitz structure in the data matrices constructed from products of the system matrices. For the estimation of the system matrices of a single subsystem, it is formulated as a structured low-rank matrix factorization problem. The effectiveness of the proposed identification method is demonstrated by a simulation example., Comment: 15 pages, 4 figures

Gray-box identification is prevalent in modeling physical and networked systems. However, due to the non-convex nature of the gray-box identification problem, good initial parameter estimates are crucial for a successful application. In this paper, a new identification method is proposed by exploiting the low-rank and structured Hankel matrix of impulse response. This identification problem is recasted into a difference-of-convex programming problem, which is then solved by the sequential convex programming approach with the associated initialization obtained by nuclear-norm optimization. The presented method aims to achieve the maximum impulse-response fitting while not requiring additional (non-convex) conditions to secure non-singularity of the similarity transformation relating the given state-space matrices to the gray-box parameterized ones. This overcomes a persistent shortcoming in a number of recent contributions on this topic, and the new method can be applied for the structured state-space realization even if the involved system parameters are unidentifiable. The method can be used both for directly estimating the gray-box parameters and for providing initial parameter estimates for further iterative search in a conventional gray-box identification setup., Comment: 7 pages, 2 figures