2022 Optimization Days

HEC Montréal, Québec, Canada, 16 — 18 May 2022

Schedule Authors My Schedule

WA10 - Robotics

May 18, 2022 10:30 AM – 12:10 PM

Location: Banque Scotia (blue)

Chaired by James Richard Forbes

4 Presentations

  • 10:30 AM - 10:55 AM

    How to Enhance Multi RobotSystems Localizability?

    • Justin Cano, presenter, GERAD, Polytechnique Montréal

    Multi Robot Systems (MRS) require real-time and accurate positioning systems to operate. Here we consider relative measurements (distances or angles) to compute position estimates. Since the MRS’ topology strongly influences their positioning quality, i.e., their localizability, we propose to design collaborative motion planners in order to improve it. We use the Cramér-Rao Lower Bound (CRLB) as a proxy of the localizability from which we derive cost functions. To solve the optimization problem, decentralized algorithms are proposed and an experimental validation took place with standard hardware.

  • 10:55 AM - 11:20 AM

    Optimal Distance-Based Formation Control of Multi-Agent Systems

    • Reza Babazadeh, presenter,

    Inspired by nature, formation control, where a group of autonomous agents is required to form and preserve a desired geometrical shape, has been widely studied in the control community. We formulated distance-based formation in a nonlinear optimal control framework and used the state-dependent Riccati equation (SDRE) technique as the primary tool for solving the optimal control problem. The proposed method minimizes a weighted cost function that includes formation and control input costs for a given mission.

  • 11:20 AM - 11:45 AM

    Variable Horizon Model Predictive Control for Bipedal Locomotion

    • Elham Daneshmand, presenter,

    Humanoid robots should be able to walk robustly on different terrains in the presence of various uncertainties. The challenge is that one needs to generate a feasible swing foot trajectory that establishes contact at the desired time and location while being consistent with the center-of-mass trajectory. In this talk, we will show our work on the variable Horizon Model Predictive Control framework for bipedal locomotion. Our control framework is validated on a bipedal robot in the presence of various disturbances and uncertainties.

  • 11:45 AM - 12:10 PM

    Minimizing Direct Operating Cost for Hybrid-Electric Aircraft

    • Steven Li, presenter, Concordia University

    In the context of the recent development in advanced air mobility and the need to transition to more sustainable aviation, this talk discusses a framework for the optimal flight management strategy that minimizes the direct operating cost (DOC) of a hybrid-electric aircraft in steady cruise flight. Specifically, we address the case of a hybrid-electric aircraft flying in a constant wind field with a constant percentage of the energy coming from the electric source. Several fixed percentages for the electric source are considered and a strategy to optimize the trade-off between fuel and electricity consumption is devised. Polynomial equations whose positive real roots are the solutions of the minimum DOC problem are obtained using Pontryagin’s minimum principle. The optimal solutions are simulated using the shooting method. Simulation examples will show the performance of the proposed strategy.