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description Publicationkeyboard_double_arrow_right Article 2023 SwedenPublisher:Springer Science and Business Media LLC Funded by:UKRI | EBWireAM - UK Electron Be..., EC | illuMINEationUKRI| EBWireAM - UK Electron Beam Additive Manufacturing Platform ,EC| illuMINEationAuthors: Papadimitriou, Andreas; Jafari, Hedyeh; Mansouri, Sina Sharif; Nikolakopoulos, George;Papadimitriou, Andreas; Jafari, Hedyeh; Mansouri, Sina Sharif; Nikolakopoulos, George;Time delays in communication networks are one of the main concerns in deploying robots with computation boards on the edge. This article proposes a multi-stage Nonlinear Model Predictive Control (NMPC) that is capable of handling varying network-induced time delays for establishing a control framework being able to guarantee collision-free Micro Aerial Vehicles (MAVs) navigation. This study introduces a novel approach that considers different sampling times by a tree of discretization scenarios contrary to the existing typical multi-stage NMPC where system uncertainties are modeled by a tree of scenarios. Additionally, the proposed method considers adaptive weights for the multi-stage NMPC scenarios based on the probability of time delays in the communication link. As a result of the multi-stage NMPC, the obtained optimal control action is valid for multiple sampling times. Finally, the overall effectiveness of the proposed novel control framework is demonstrated in various tests and different simulation environments. Validerad;2023;Nivå 2;2023-04-05 (hanlid)
Digitala Vetenskapli... arrow_drop_down arXiv.org e-Print ArchiveOther literature type . Preprint . 2022Data sources: arXiv.org e-Print ArchiveZENODO; Journal of Intelligent & Robotic SystemsArticle . Journal . 2023 . Peer-reviewedLicense: CC BYhttps://doi.org/10.48550/arxiv...Article . 2022License: arXiv Non-Exclusive DistributionData sources: Dataciteadd ClaimPlease grant OpenAIRE to access and update your ORCID works.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.All Research productsarrow_drop_down <script type="text/javascript"> <!-- document.write('<div id="oa_widget"></div>'); document.write('<script type="text/javascript" src="https://www.openaire.eu/index.php?option=com_openaire&view=widget&format=raw&projectId=10.1007/s10846-023-01818-1&type=result"></script>'); --> </script>
For further information contact us at helpdesk@openaire.euAccess RoutesGreen hybrid 1 citations 1 popularity Average influence Average impulse Average Powered by BIP!more_vert Digitala Vetenskapli... arrow_drop_down arXiv.org e-Print ArchiveOther literature type . Preprint . 2022Data sources: arXiv.org e-Print ArchiveZENODO; Journal of Intelligent & Robotic SystemsArticle . Journal . 2023 . Peer-reviewedLicense: CC BYhttps://doi.org/10.48550/arxiv...Article . 2022License: arXiv Non-Exclusive DistributionData sources: Dataciteadd ClaimPlease grant OpenAIRE to access and update your ORCID works.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.All Research productsarrow_drop_down <script type="text/javascript"> <!-- document.write('<div id="oa_widget"></div>'); document.write('<script type="text/javascript" src="https://www.openaire.eu/index.php?option=com_openaire&view=widget&format=raw&projectId=10.1007/s10846-023-01818-1&type=result"></script>'); --> </script>
For further information contact us at helpdesk@openaire.eudescription Publicationkeyboard_double_arrow_right Article 2023 SwedenPublisher:Springer Science and Business Media LLC Funded by:EC | illuMINEationEC| illuMINEationAuthors: Akash Patel; Björn Lindqvist; Christoforos Kanellakis; Ali-akbar Agha-mohammadi; +1 AuthorsAkash Patel; Björn Lindqvist; Christoforos Kanellakis; Ali-akbar Agha-mohammadi; George Nikolakopoulos;Exploration and mapping of unknown environments is a fundamental task in applications for autonomous robots. In this article, we present a complete framework for deploying Micro Aerial Vehicles (MAVs) in autonomous exploration missions in unknown subterranean areas. The main motive of exploration algorithms is to depict the next best frontier for the MAV such that new ground can be covered in a fast, safe yet efficient manner. The proposed framework uses a novel frontier selection method that also contributes to the safe navigation of autonomous MAVs in obstructed areas such as subterranean caves, mines, and urban areas. The framework presented in this work bifurcates the exploration problem in local and global exploration. The proposed exploration framework is also adaptable according to computational resources available onboard the MAV which means the trade-off between the speed of exploration and the quality of the map can be made. Such capability allows the proposed framework to be deployed in subterranean exploration and mapping as well as in fast search and rescue scenarios. The performance of the proposed framework is evaluated in detailed simulation studies with comparisons made against a high-level exploration-planning framework developed for the DARPA Sub-T challenge as it will be presented in this article. Validerad;2023;Nivå 2;2023-08-08 (joosat);Full text license: CC BY;This article has previously appeared as a manuscript in a thesis
arXiv.org e-Print Ar... arrow_drop_down arXiv.org e-Print ArchiveOther literature type . Preprint . 2022Data sources: arXiv.org e-Print ArchiveZENODO; Journal of Intelligent & Robotic SystemsArticle . Journal . 2024 . 2023 . Peer-reviewedLicense: CC BYadd ClaimPlease grant OpenAIRE to access and update your ORCID works.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.All Research productsarrow_drop_down <script type="text/javascript"> <!-- document.write('<div id="oa_widget"></div>'); document.write('<script type="text/javascript" src="https://www.openaire.eu/index.php?option=com_openaire&view=widget&format=raw&projectId=10.1007/s10846-023-01836-z&type=result"></script>'); --> </script>
For further information contact us at helpdesk@openaire.euAccess RoutesGreen hybrid 1 citations 1 popularity Average influence Average impulse Average Powered by BIP!more_vert arXiv.org e-Print Ar... arrow_drop_down arXiv.org e-Print ArchiveOther literature type . Preprint . 2022Data sources: arXiv.org e-Print ArchiveZENODO; Journal of Intelligent & Robotic SystemsArticle . Journal . 2024 . 2023 . Peer-reviewedLicense: CC BYadd ClaimPlease grant OpenAIRE to access and update your ORCID works.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.All Research productsarrow_drop_down <script type="text/javascript"> <!-- document.write('<div id="oa_widget"></div>'); document.write('<script type="text/javascript" src="https://www.openaire.eu/index.php?option=com_openaire&view=widget&format=raw&projectId=10.1007/s10846-023-01836-z&type=result"></script>'); --> </script>
For further information contact us at helpdesk@openaire.eu
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description Publicationkeyboard_double_arrow_right Article 2023 SwedenPublisher:Springer Science and Business Media LLC Funded by:UKRI | EBWireAM - UK Electron Be..., EC | illuMINEationUKRI| EBWireAM - UK Electron Beam Additive Manufacturing Platform ,EC| illuMINEationAuthors: Papadimitriou, Andreas; Jafari, Hedyeh; Mansouri, Sina Sharif; Nikolakopoulos, George;Papadimitriou, Andreas; Jafari, Hedyeh; Mansouri, Sina Sharif; Nikolakopoulos, George;Time delays in communication networks are one of the main concerns in deploying robots with computation boards on the edge. This article proposes a multi-stage Nonlinear Model Predictive Control (NMPC) that is capable of handling varying network-induced time delays for establishing a control framework being able to guarantee collision-free Micro Aerial Vehicles (MAVs) navigation. This study introduces a novel approach that considers different sampling times by a tree of discretization scenarios contrary to the existing typical multi-stage NMPC where system uncertainties are modeled by a tree of scenarios. Additionally, the proposed method considers adaptive weights for the multi-stage NMPC scenarios based on the probability of time delays in the communication link. As a result of the multi-stage NMPC, the obtained optimal control action is valid for multiple sampling times. Finally, the overall effectiveness of the proposed novel control framework is demonstrated in various tests and different simulation environments. Validerad;2023;Nivå 2;2023-04-05 (hanlid)
Digitala Vetenskapli... arrow_drop_down arXiv.org e-Print ArchiveOther literature type . Preprint . 2022Data sources: arXiv.org e-Print ArchiveZENODO; Journal of Intelligent & Robotic SystemsArticle . Journal . 2023 . Peer-reviewedLicense: CC BYhttps://doi.org/10.48550/arxiv...Article . 2022License: arXiv Non-Exclusive DistributionData sources: Dataciteadd ClaimPlease grant OpenAIRE to access and update your ORCID works.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.All Research productsarrow_drop_down <script type="text/javascript"> <!-- document.write('<div id="oa_widget"></div>'); document.write('<script type="text/javascript" src="https://www.openaire.eu/index.php?option=com_openaire&view=widget&format=raw&projectId=10.1007/s10846-023-01818-1&type=result"></script>'); --> </script>
For further information contact us at helpdesk@openaire.euAccess RoutesGreen hybrid 1 citations 1 popularity Average influence Average impulse Average Powered by BIP!more_vert Digitala Vetenskapli... arrow_drop_down arXiv.org e-Print ArchiveOther literature type . Preprint . 2022Data sources: arXiv.org e-Print ArchiveZENODO; Journal of Intelligent & Robotic SystemsArticle . Journal . 2023 . Peer-reviewedLicense: CC BYhttps://doi.org/10.48550/arxiv...Article . 2022License: arXiv Non-Exclusive DistributionData sources: Dataciteadd ClaimPlease grant OpenAIRE to access and update your ORCID works.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.All Research productsarrow_drop_down <script type="text/javascript"> <!-- document.write('<div id="oa_widget"></div>'); document.write('<script type="text/javascript" src="https://www.openaire.eu/index.php?option=com_openaire&view=widget&format=raw&projectId=10.1007/s10846-023-01818-1&type=result"></script>'); --> </script>
For further information contact us at helpdesk@openaire.eudescription Publicationkeyboard_double_arrow_right Article 2023 SwedenPublisher:Springer Science and Business Media LLC Funded by:EC | illuMINEationEC| illuMINEationAuthors: Akash Patel; Björn Lindqvist; Christoforos Kanellakis; Ali-akbar Agha-mohammadi; +1 AuthorsAkash Patel; Björn Lindqvist; Christoforos Kanellakis; Ali-akbar Agha-mohammadi; George Nikolakopoulos;Exploration and mapping of unknown environments is a fundamental task in applications for autonomous robots. In this article, we present a complete framework for deploying Micro Aerial Vehicles (MAVs) in autonomous exploration missions in unknown subterranean areas. The main motive of exploration algorithms is to depict the next best frontier for the MAV such that new ground can be covered in a fast, safe yet efficient manner. The proposed framework uses a novel frontier selection method that also contributes to the safe navigation of autonomous MAVs in obstructed areas such as subterranean caves, mines, and urban areas. The framework presented in this work bifurcates the exploration problem in local and global exploration. The proposed exploration framework is also adaptable according to computational resources available onboard the MAV which means the trade-off between the speed of exploration and the quality of the map can be made. Such capability allows the proposed framework to be deployed in subterranean exploration and mapping as well as in fast search and rescue scenarios. The performance of the proposed framework is evaluated in detailed simulation studies with comparisons made against a high-level exploration-planning framework developed for the DARPA Sub-T challenge as it will be presented in this article. Validerad;2023;Nivå 2;2023-08-08 (joosat);Full text license: CC BY;This article has previously appeared as a manuscript in a thesis
arXiv.org e-Print Ar... arrow_drop_down arXiv.org e-Print ArchiveOther literature type . Preprint . 2022Data sources: arXiv.org e-Print ArchiveZENODO; Journal of Intelligent & Robotic SystemsArticle . Journal . 2024 . 2023 . Peer-reviewedLicense: CC BYadd ClaimPlease grant OpenAIRE to access and update your ORCID works.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.All Research productsarrow_drop_down <script type="text/javascript"> <!-- document.write('<div id="oa_widget"></div>'); document.write('<script type="text/javascript" src="https://www.openaire.eu/index.php?option=com_openaire&view=widget&format=raw&projectId=10.1007/s10846-023-01836-z&type=result"></script>'); --> </script>
For further information contact us at helpdesk@openaire.euAccess RoutesGreen hybrid 1 citations 1 popularity Average influence Average impulse Average Powered by BIP!more_vert arXiv.org e-Print Ar... arrow_drop_down arXiv.org e-Print ArchiveOther literature type . Preprint . 2022Data sources: arXiv.org e-Print ArchiveZENODO; Journal of Intelligent & Robotic SystemsArticle . Journal . 2024 . 2023 . Peer-reviewedLicense: CC BYadd ClaimPlease grant OpenAIRE to access and update your ORCID works.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.All Research productsarrow_drop_down <script type="text/javascript"> <!-- document.write('<div id="oa_widget"></div>'); document.write('<script type="text/javascript" src="https://www.openaire.eu/index.php?option=com_openaire&view=widget&format=raw&projectId=10.1007/s10846-023-01836-z&type=result"></script>'); --> </script>
For further information contact us at helpdesk@openaire.eu