A Time-Space Network Model for Collision-Free Routing of Planar Motions in a Multirobot Station

Xin, Jianbin; Meng, Chuang; Schulte, Frederik; Peng, Jinzhu; Liu, Yanhong; Negenborn, Rudy R.

doi:10.1109/tii.2020.2968099

Cited by 27 publications

(9 citation statements)

References 37 publications

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“…Thanks to many potential applications, e.g., electrohydraulic systems [3] and robotics [4], systems switching among a family of dynamics, a.k.a. switched systems, have been attracting a significant amount of research in the last decades [5].…”

Section: Introductionmentioning

confidence: 99%

Lyapunov-Equation-Based Stability Analysis for Switched Linear Systems and Its Application to Switched Adaptive Control

Yuan

Baldi

et al. 2021

IEEE Trans. Automat. Contr.

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This paper investigates the stability of continuoustime switched linear systems with dwell time constraints. A fresh insight into this established problem is provided via novel stability conditions that require the solution to a family of differential Lyapunov equations and algebraic Lyapunov equations. The proposed analysis, which leads to a peculiar Lyapunov function that is decreasing in between and at switching instants, enjoys the following properties: it achieves the same dwell time as the well-known result in [1]; it removes the increasing computational complexity of the linear interpolation method of [2]; it leads to a straightforward counterpart for discrete-time switched linear systems. We show the application of this methodology to the problem of adaptive control of switched linear systems with parametric uncertainties. Index Terms-Stability analysis; dwell time switching; switched linear systems; switched adaptive control.

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Section: Introductionmentioning

confidence: 99%

Lyapunov-Equation-Based Stability Analysis for Switched Linear Systems and Its Application to Switched Adaptive Control

Yuan

Baldi

et al. 2021

IEEE Trans. Automat. Contr.

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“…They also used the genetic algorithm to find the best order of all tasks. Similarly, Xin et al [15] adopted the genetic algorithm in their work on a collision-free multirobot station. Lerher [10] (2016) proposed a travel time model of a doubledeep SBS/RS.…”

Section: Introductionmentioning

confidence: 99%

Scheduling Storage Process of Shuttle-Based Storage and Retrieval Systems Based on Reinforcement Learning

Luo

Zhao

Lodewijks

2021

Complex Syst. Model. Simul.

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The Shuttle-Based Storage and Retrieval System (SBS/RS) has been widely studied because it is currently the most efficient automated warehousing system. Most of the related existing studies are focused on the prediction and improvement of the efficiency of such a system at the design stage. Hence, the control of existing SBS/RSs has been rarely investigated. In existing SBS/RSs, some empirical rules, such as storing loads column by column, are used to control or schedule the storage process. The question is whether or not the control of the storage process in an existing system can be improved further by using a different approach. The storage process is controlled to minimize the makespan of storing a series of loads into racks. Empirical storage rules are easy to control, but they do not reach the minimum makespan. In this study, the performance of a control system that uses reinforcement learning to schedule the storage process of an SBS/RS with fixed configurations is evaluated. Specifically, a reinforcement learning algorithm called the actor-critic algorithm is used. This algorithm is made up of two neural networks and is effective in making decisions and updating itself. It can also reduce the makespan relative to the existing empirical rules used to improve system performance. Experiment results show that in an SBS/RS comprising six columns and six tiers and featuring a storage capacity of 72 loads, the actor-critic algorithm can reduce the makespan by 6.67% relative to the column-by-column storage rule. The proposed algorithm also reduces the makespan by more than 30% when the number of loads being stored is in the range of 7-45, which is equal to 9.7%-62.5% of the systems' storage capacity.

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“…A belt conveyor is widely used in the industrial field and is mainly used in material transportation equipment [ 1 , 2 , 3 , 4 , 5 ]. The longitudinal rip of the belt—along the running direction caused by hard impurities’ puncture, penetration, and blocking—is one of the common faults of the belt conveyor.…”

Section: Introductionmentioning

confidence: 99%

Identifying and Characterizing Conveyor Belt Longitudinal Rip by 3D Point Cloud Processing

Pang

Jin

et al. 2021

Sensors

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Real-time and accurate longitudinal rip detection of a conveyor belt is crucial for the safety and efficiency of an industrial haulage system. However, the existing longitudinal detection methods possess drawbacks, often resulting in false alarms caused by tiny scratches on the belt surface. A method of identifying the longitudinal rip through three-dimensional (3D) point cloud processing is proposed to solve this issue. Specifically, the spatial point data of the belt surface are acquired by a binocular line laser stereo vision camera. Within these data, the suspected points induced by the rips and scratches were extracted. Subsequently, a clustering and discrimination mechanism was employed to distinguish the rips and scratches, and only the rip information was used as alarm criterion. Finally, the direction and maximum width of the rip can be effectively characterized in 3D space using the principal component analysis (PCA) method. This method was tested in practical experiments, and the experimental results indicate that this method can identify the longitudinal rip accurately in real time and simultaneously characterize it. Thus, applying this method can provide a more effective and appropriate solution to the identification scenes of longitudinal rip and other similar defects.

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A Time-Space Network Model for Collision-Free Routing of Planar Motions in a Multirobot Station

Cited by 27 publications

References 37 publications

Lyapunov-Equation-Based Stability Analysis for Switched Linear Systems and Its Application to Switched Adaptive Control

Lyapunov-Equation-Based Stability Analysis for Switched Linear Systems and Its Application to Switched Adaptive Control

Scheduling Storage Process of Shuttle-Based Storage and Retrieval Systems Based on Reinforcement Learning

Identifying and Characterizing Conveyor Belt Longitudinal Rip by 3D Point Cloud Processing

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