Journées de l'optimisation 2022
HEC Montréal, Québec, Canada, 16 — 18 mai 2022
WA10  Robotics
18 mai 2022 10h30 – 12h10
Salle: Banque Scotia (bleu)
Présidée par James Richard Forbes
4 présentations

10h30  10h55
How to Enhance Multi RobotSystems Localizability?
Multi Robot Systems (MRS) require realtime 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 CramérRao 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.

10h55  11h20
Optimal DistanceBased Formation Control of MultiAgent Systems
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 distancebased formation in a nonlinear optimal control framework and used the statedependent 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.

11h20  11h45
Variable Horizon Model Predictive Control for Bipedal Locomotion
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 centerofmass 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.

11h45  12h10
Minimizing Direct Operating Cost for HybridElectric Aircraft
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 hybridelectric aircraft in steady cruise flight. Specifically, we address the case of a hybridelectric 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 tradeoff 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.