Change search
Link to record
Permanent link

Direct link
BETA
Alternative names
Publications (10 of 70) Show all publications
Scukins, E. & Ögren, P. (2019). Classical Formation Patterns and Flanking Strategies as a Result of Utility Maximization. IEEE Control Systems Letters, 3(2), 422-427
Open this publication in new window or tab >>Classical Formation Patterns and Flanking Strategies as a Result of Utility Maximization
2019 (English)In: IEEE Control Systems Letters, ISSN 2475-1456, Vol. 3, no 2, p. 422-427Article in journal (Refereed) Published
Abstract [en]

In this paper, we show how classical tactical forma- tion patterns and flanking strategies, such as the line formation and the enveloping maneuver, can be seen as the result of maximizing a natural formation utility.

The problem of automatic formation keeping is extremely well studied within the areas of control and robotics, but the reasons for choosing a particular formation shape and position is much less so.

By analyzing a situation with two adversarial teams of agents facing each other, we show that natural assumptions regarding the target selection of the agents and decreasing weapon efficiency over distance, can be used to optimize a measure of utility over agent positions. This optimization in turn results in formations and positions that are very similar to the ones being used in practice. We present both analytical results for simple examples as well as numerical results for more complex situations.

Place, publisher, year, edition, pages
IEEE, 2019
Keywords
Cooperative control, Game theory, Optimization, Formations
National Category
Robotics Control Engineering
Research subject
SRA - ICT
Identifiers
urn:nbn:se:kth:diva-241530 (URN)10.1109/LCSYS.2019.2892298 (DOI)2-s2.0-85059808316 (Scopus ID)
Funder
VINNOVA, 2017-04875
Note

QC 20190125

Available from: 2019-01-23 Created: 2019-01-23 Last updated: 2019-03-18Bibliographically approved
Ögren, P. & Colledanchise, M. (2018). Behavior Trees in Robotics and AI: An Introduction (Firsted.). CRC Press, Florida, US: CRC Press
Open this publication in new window or tab >>Behavior Trees in Robotics and AI: An Introduction
2018 (English)Book (Refereed)
Abstract [en]

Behavior Trees (BTs) provide a way to structure the behavior of an artificial agent such as a robot or a non-player character in a computer game.  Traditional design methods, such as finite state machines, are known to produce brittle behaviors when complexity increases, making it very hard to add features without breaking existing functionality.  BTs were created to address this very problem, and enables the creation of systems that are both modular and reactive. Behavior Trees in Robotics and AI: An Introduction provides a broad introduction as well as an in-depth exploration of the topic, and is the first comprehensive book on the use of BTs.

Place, publisher, year, edition, pages
CRC Press, Florida, US: CRC Press, 2018. p. 192 Edition: First
Series
Chapman & Hall/CRC artificial intelligence and robotics series ; 6
Keywords
Behavior Trees, AI, Artificial Intelligence, Robotics, Control, Task Switching, Finite State Machine
National Category
Robotics
Research subject
Computer Science
Identifiers
urn:nbn:se:kth:diva-232942 (URN)9781138593732 (ISBN)
Note

QC 20180808

Available from: 2018-08-06 Created: 2018-08-06 Last updated: 2018-09-03Bibliographically approved
Parasuraman, R., Ögren, P. & Min, B.-C. (2018). Kalman Filter Based Spatial Prediction of Wireless Connectivity for Autonomous Robots and Connected Vehicles. In: 2018 IEEE 88TH VEHICULAR TECHNOLOGY CONFERENCE (VTC-FALL): . Paper presented at 88th IEEE Vehicular Technology Conference (VTC-Fall), AUG 27-30, 2018, Chicago, IL. IEEE
Open this publication in new window or tab >>Kalman Filter Based Spatial Prediction of Wireless Connectivity for Autonomous Robots and Connected Vehicles
2018 (English)In: 2018 IEEE 88TH VEHICULAR TECHNOLOGY CONFERENCE (VTC-FALL), IEEE , 2018Conference paper, Published paper (Refereed)
Abstract [en]

This paper proposes a new Kalman filter based online framework to estimate the spatial wireless connectivity in terms of received signal strength (RSS), which is composed of path loss and the shadow fading variance of a wireless channel in autonomous vehicles. The path loss is estimated using a localized least squares method and the shadowing effect is predicted with an empirical (exponential) variogram. A discrete Kalman Filter is used to fuse these two models into a state space formulation. The approach is unique in a sense that it is online and does not require the exact source location to be known apriori. We evaluated the method using real-world measurements dataset from both indoors and outdoor environments. The results show significant performance improvements compared to state-of-the-art methods using Gaussian processes or Kriging interpolation algorithms. We are able to achieve a mean prediction accuracy of up to 96% for predicting RSS as far as 20 meters ahead in the robot's trajectory.

Place, publisher, year, edition, pages
IEEE, 2018
Series
IEEE Vehicular Technology Conference Proceedings, ISSN 1550-2252
National Category
Robotics
Identifiers
urn:nbn:se:kth:diva-255256 (URN)10.1109/VTCFall.2018.8690611 (DOI)000468872400064 ()2-s2.0-85064954564 (Scopus ID)978-1-5386-6358-5 (ISBN)
Conference
88th IEEE Vehicular Technology Conference (VTC-Fall), AUG 27-30, 2018, Chicago, IL
Note

QC 20190729

Available from: 2019-07-29 Created: 2019-07-29 Last updated: 2019-07-29Bibliographically approved
Colledanchise, M. & Ögren, P. (2017). How Behavior Trees Modularize Hybrid Control Systems and Generalize Sequential Behavior Compositions, the Subsumption Architecture, and Decision Trees. IEEE Transactions on robotics, 33(2), 372-389
Open this publication in new window or tab >>How Behavior Trees Modularize Hybrid Control Systems and Generalize Sequential Behavior Compositions, the Subsumption Architecture, and Decision Trees
2017 (English)In: IEEE Transactions on robotics, ISSN 1552-3098, E-ISSN 1941-0468, Vol. 33, no 2, p. 372-389Article in journal (Refereed) Published
Place, publisher, year, edition, pages
IEEE, 2017
National Category
Robotics
Identifiers
urn:nbn:se:kth:diva-202922 (URN)10.1109/TRO.2016.2633567 (DOI)000399348900009 ()2-s2.0-85007048891 (Scopus ID)
Note

QC 20170307

Available from: 2017-03-07 Created: 2017-03-07 Last updated: 2017-10-23Bibliographically approved
Caccamo, S., Parasuraman, R., Freda, L., Gianni, M. & Ögren, P. (2017). RCAMP: A Resilient Communication-Aware Motion Planner for Mobile Robots with Autonomous Repair of Wireless Connectivity. In: Bicchi, A Okamura, A (Ed.), 2017 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS): . Paper presented at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), SEP 24-28, 2017, Vancouver, CANADA (pp. 2010-2017). IEEE
Open this publication in new window or tab >>RCAMP: A Resilient Communication-Aware Motion Planner for Mobile Robots with Autonomous Repair of Wireless Connectivity
Show others...
2017 (English)In: 2017 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) / [ed] Bicchi, A Okamura, A, IEEE , 2017, p. 2010-2017Conference paper, Published paper (Refereed)
Abstract [en]

Mobile robots, be it autonomous or teleoperated, require stable communication with the base station to exchange valuable information. Given the stochastic elements in radio signal propagation, such as shadowing and fading, and the possibilities of unpredictable events or hardware failures, communication loss often presents a significant mission risk, both in terms of probability and impact, especially in Urban Search and Rescue (USAR) operations. Depending on the circumstances, disconnected robots are either abandoned, or attempt to autonomously back-trace their way to the base station. Although recent results in Communication-Aware Motion Planning can be used to effectively manage connectivity with robots, there are no results focusing on autonomously re-establishing the wireless connectivity of a mobile robot without back-tracing or using detailed a priori information of the network. In this paper, we present a robust and online radio signal mapping method using Gaussian Random Fields, and propose a Resilient Communication-Aware Motion Planner (RCAMP) that integrates the above signal mapping framework with a motion planner. RCAMP considers both the environment and the physical constraints of the robot, based on the available sensory information. We also propose a self-repair strategy using RCMAP, that takes both connectivity and the goal position into account when driving to a connection-safe position in the event of a communication loss. We demonstrate the proposed planner in a set of realistic simulations of an exploration task in single or multi-channel communication scenarios.

Place, publisher, year, edition, pages
IEEE, 2017
Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
Keywords
Mobile Robots, Self-Repair, Wireless Communication, Communication-Aware Motion Planning
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
urn:nbn:se:kth:diva-225803 (URN)10.1109/IROS.2017.8206020 (DOI)000426978202045 ()2-s2.0-85041962473 (Scopus ID)978-1-5386-2682-5 (ISBN)
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), SEP 24-28, 2017, Vancouver, CANADA
Note

QC 20180409

Available from: 2018-04-09 Created: 2018-04-09 Last updated: 2019-04-09Bibliographically approved
Colledanchise, M., Murray, R. M. & Ögren, P. (2017). Synthesis of correct-by-construction behavior trees. In: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017: . Paper presented at 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017, Vancouver, Canada, 24 September 2017 through 28 September 2017 (pp. 6039-6046). Institute of Electrical and Electronics Engineers (IEEE), Article ID 8206502.
Open this publication in new window or tab >>Synthesis of correct-by-construction behavior trees
2017 (English)In: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017, Institute of Electrical and Electronics Engineers (IEEE), 2017, p. 6039-6046, article id 8206502Conference paper, Oral presentation only (Refereed)
Abstract [en]

In this paper we study the problem of synthesizing correct-by-construction Behavior Trees (BTs) controlling agents in adversarial environments. The proposed approach combines the modularity and reactivity of BTs with the formal guarantees of Linear Temporal Logic (LTL) methods. Given a set of admissible environment specifications, an agent model in form of a Finite Transition System and the desired task in form of an LTL formula, we synthesize a BT in polynomial time, that is guaranteed to correctly execute the desired task. To illustrate the approach, we present three examples of increasing complexity.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2017
Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
urn:nbn:se:kth:diva-224272 (URN)10.1109/IROS.2017.8206502 (DOI)2-s2.0-85041952364 (Scopus ID)9781538626825 (ISBN)
Conference
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017, Vancouver, Canada, 24 September 2017 through 28 September 2017
Note

QC 20180315

Available from: 2018-03-15 Created: 2018-03-15 Last updated: 2018-03-15Bibliographically approved
Almeida, D., Ambrus, R., Caccamo, S., Chen, X., Cruciani, S., Pinto Basto De Carvalho, J. F., . . . Kragic, D. (2017). Team KTH’s Picking Solution for the Amazon Picking Challenge 2016. In: Warehouse Picking Automation Workshop 2017: Solutions, Experience, Learnings and Outlook of the Amazon Robotics Challenge. Paper presented at ICRA 2017.
Open this publication in new window or tab >>Team KTH’s Picking Solution for the Amazon Picking Challenge 2016
Show others...
2017 (English)In: Warehouse Picking Automation Workshop 2017: Solutions, Experience, Learnings and Outlook of the Amazon Robotics Challenge, 2017Conference paper, Oral presentation only (Other (popular science, discussion, etc.))
Abstract [en]

In this work we summarize the solution developed by Team KTH for the Amazon Picking Challenge 2016 in Leipzig, Germany. The competition simulated a warehouse automation scenario and it was divided in two tasks: a picking task where a robot picks items from a shelf and places them in a tote and a stowing task which is the inverse task where the robot picks items from a tote and places them in a shelf. We describe our approach to the problem starting from a high level overview of our system and later delving into details of our perception pipeline and our strategy for manipulation and grasping. The solution was implemented using a Baxter robot equipped with additional sensors.

National Category
Robotics
Research subject
Computer Science
Identifiers
urn:nbn:se:kth:diva-215327 (URN)
Conference
ICRA 2017
Note

QC 20171009

Available from: 2017-10-07 Created: 2017-10-07 Last updated: 2018-05-24Bibliographically approved
Båberg, F., Wang, Y., Caccamo, S. & Ögren, P. (2016). Adaptive object centered teleoperation control of a mobile manipulator. In: 2016 IEEE International Conference on Robotics and Automation (ICRA): . Paper presented at 2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, May 16-21, 2016 (pp. 455-461). Institute of Electrical and Electronics Engineers (IEEE)
Open this publication in new window or tab >>Adaptive object centered teleoperation control of a mobile manipulator
2016 (English)In: 2016 IEEE International Conference on Robotics and Automation (ICRA), Institute of Electrical and Electronics Engineers (IEEE), 2016, p. 455-461Conference paper, Published paper (Refereed)
Abstract [en]

Teleoperation of a mobile robot manipulating and exploring an object shares many similarities with the manipulation of virtual objects in a 3D design software such as AutoCAD. The user interfaces are however quite different, mainly for historical reasons. In this paper we aim to change that, and draw inspiration from the 3D design community to propose a teleoperation interface control mode that is identical to the ones being used to locally navigate the virtual viewpoint of most Computer Aided Design (CAD) softwares.

The proposed mobile manipulator control framework thus allows the user to focus on the 3D objects being manipulated, using control modes such as orbit object and pan object, supported by data from the wrist mounted RGB-D sensor. The gripper of the robot performs the desired motions relative to the object, while the manipulator arm and base moves in a way that realizes the desired gripper motions. The system redundancies are exploited in order to take additional constraints, such as obstacle avoidance, into account, using a constraint based programming framework.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2016
Series
Proceedings - IEEE International Conference on Robotics and Automation, ISSN 1050-4729
Keywords
virtual object, mobile manipulation, teleoperation
National Category
Robotics
Research subject
Computer Science
Identifiers
urn:nbn:se:kth:diva-182902 (URN)10.1109/ICRA.2016.7487166 (DOI)000389516200057 ()2-s2.0-84977527389 (Scopus ID)9781467380263 (ISBN)
Conference
2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, May 16-21, 2016
Projects
TRADR
Funder
EU, FP7, Seventh Framework Programme, FP7-ICT-609763 TRADR
Note

QC 20160829

Available from: 2016-02-24 Created: 2016-02-24 Last updated: 2017-01-19Bibliographically approved
Karayiannidis, Y., Smith, C., Barrientos, F. E., Ögren, P. & Kragic, D. (2016). An Adaptive Control Approach for Opening Doors and Drawers Under Uncertainties. IEEE Transactions on robotics, 32(1), 161-175
Open this publication in new window or tab >>An Adaptive Control Approach for Opening Doors and Drawers Under Uncertainties
Show others...
2016 (English)In: IEEE Transactions on robotics, ISSN 1552-3098, E-ISSN 1941-0468, Vol. 32, no 1, p. 161-175Article in journal (Refereed) Published
Abstract [en]

We study the problem of robot interaction with mechanisms that afford one degree of freedom motion, e.g., doors and drawers. We propose a methodology for simultaneous compliant interaction and estimation of constraints imposed by the joint. Our method requires no prior knowledge of the mechanisms' kinematics, including the type of joint, prismatic or revolute. The method consists of a velocity controller that relies on force/torque measurements and estimation of the motion direction, the distance, and the orientation of the rotational axis. It is suitable for velocity controlled manipulators with force/torque sensor capabilities at the end-effector. Forces and torques are regulated within given constraints, while the velocity controller ensures that the end-effector of the robot moves with a task-related desired velocity. We give proof that the estimates converge to the true values under valid assumptions on the grasp, and error bounds for setups with inaccuracies in control, measurements, or modeling. The method is evaluated in different scenarios involving opening a representative set of door and drawer mechanisms found in household environments.

Place, publisher, year, edition, pages
IEEE, 2016
Keywords
Adaptive control, calibration and identification, force/motion control, service robots, uncertain kinematics
National Category
Robotics
Identifiers
urn:nbn:se:kth:diva-184046 (URN)10.1109/TRO.2015.2506154 (DOI)000370764000012 ()2-s2.0-84961994390 (Scopus ID)
Note

QC 20160323

Available from: 2016-03-23 Created: 2016-03-22 Last updated: 2017-11-30Bibliographically approved
Wang, Y., Smith, C., Karayiannidis, Y. & Ögren, P. (2016). Whole Body Control of a Dual-Arm Mobile Robot Using a Virtual Kinematic Chain. INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS, 13(1), Article ID 1550047.
Open this publication in new window or tab >>Whole Body Control of a Dual-Arm Mobile Robot Using a Virtual Kinematic Chain
2016 (English)In: INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS, ISSN 0219-8436, Vol. 13, no 1, article id 1550047Article in journal (Refereed) Published
Abstract [en]

Dual-arm manipulators have more advanced manipulation abilities compared to single-arm manipulators and manipulators mounted on a mobile base have additional mobility and a larger workspace. Combining these advantages, mobile dual-arm robots are expected to perform a variety of tasks in the future. Kinematically, the configuration of two arms that branches from the mobile base results in a serial-to-parallel kinematic structure. In order to respond to external disturbances, this serial-to-parallel kinematic structure makes inverse kinematic computations non-trivial, as the motion of the base has to take the needs of both arms into account. Instead of using the dual-arm kinematics directly, we propose to use a virtual kinematic chain (VKC) to specify the common motion of the two arms. We formulate a constraint-based programming solution which consists of two parts. In the first part, we use an extended serial kinematic chain including the mobile base and the VKC to formulate constraints that realize the desired orientation and translation expressed in the world frame. In the second part, we use the resolved VKC motion to constrain the common motion of the two arms. In order to explore the redundancy of the two arms in an optimization framework, we also provide a VKC-oriented manipulability measure as well as its closed-form gradient. We verify the proposed approach with simulations and experiments that are performed on a PR2 robot, which has two 7 degrees of freedom (DoF) arms and a 3 DoF mobile base.

Place, publisher, year, edition, pages
WORLD SCIENTIFIC PUBL CO PTE LTD, 2016
Keywords
Mobile manipulation, dual-arm robot, virtual kinematic chain
National Category
Robotics
Identifiers
urn:nbn:se:kth:diva-186651 (URN)10.1142/S0219843615500474 (DOI)000374011800006 ()2-s2.0-84963626954 (Scopus ID)
Note

QC 20160531

Available from: 2016-05-31 Created: 2016-05-13 Last updated: 2016-05-31Bibliographically approved
Organisations
Identifiers
ORCID iD: ORCID iD iconorcid.org/0000-0002-7714-928X

Search in DiVA

Show all publications