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Learning communication delay patterns for remotely controlled UAV networks
KTH, School of Electrical Engineering (EES), Automatic Control.
KTH, School of Electrical Engineering (EES), Automatic Control.ORCID iD: 0000-0001-9940-5929
2017 (English)In: IFAC PAPERSONLINE, Elsevier, 2017, Vol. 50, no 1, p. 13216-13221Conference paper, Published paper (Refereed)
Abstract [en]

This paper deals with collaborative unmanned aerial vehicles (UAVs) that are remotely controlled from a cloud server. The main contribution is to apply machine learning technique to find a pattern of network-induced effects on maneuvers of UAVs, in order to compensate for time delays and packet losses in remote communication. As machine learning technique, a Gaussian process (GP) based approach is employed due to its computational simplicity and flexibility in modelling complex expressions using a small number of parameters. We combine a deterministic compensation for an enhanced GP model to overcome a problem of the lack of training data at the beginning of training phase. This is done by defining training data input as a set of delayed observation and the deterministic compensation term, and by training the GP on residual between the true state and the input set. The proposed algorithm is evaluated to collaborative trajectory tracking of two UAVs. Simulations are performed for various delays and tracking scenarios. It is shown that the better tracking results are achieved compared to a conventional linear compensation algorithm.

Place, publisher, year, edition, pages
Elsevier, 2017. Vol. 50, no 1, p. 13216-13221
Series
IFAC PAPERSONLINE, ISSN 2405-8963 ; 50
Keywords [en]
Networked robotics, unmanned aerial vehicles, time-delay systems, machine learning
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-243586DOI: 10.1016/j.ifacol.2017.08.1954ISI: 000423965200194Scopus ID: 2-s2.0-85044252181OAI: oai:DiVA.org:kth-243586DiVA, id: diva2:1286272
Conference
20th World Congress of the International-Federation-of-Automatic-Control (IFAC), JUL 09-14, 2017, Toulouse, FRANCE
Note

QC 20190206

Available from: 2019-02-06 Created: 2019-02-06 Last updated: 2019-02-06Bibliographically approved

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Yoo, JaehyunJohansson, Karl H.

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CiteExportLink to record
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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
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More languages
Output format
  • html
  • text
  • asciidoc
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