autonet2030: towards distributed control of dynamic vehicle...
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Autonet2030: towards distributed
control of dynamic vehicle convoys
Iñaki Navarro
School of Architecture, Civil and Environmental Engineering
Distributed Intelligent Systems and Algorithms Laboratory
École Polytechnique Fédérale de Lausanne
CH-1015 Lausanne, Switzerland
http://disal.epfl.ch/
Navigare 2015: Cooperative & Swarm Navigation, Thun, May 5, 2015
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The DISAL Team
• professor Alcherio Martinoli
• 1 part-time system administrator
• 1 part-time secretary
• 3 R&D engineers
• 4 post-doctoral fellows
• 12 PhD candidates(6 co-supervised)
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Distributed Mobile
Robotic Systems
Sensor and Actuator
NetworksDistributed Intelligent
Transportation Systems
3 Domains, 1 FrameworkDistributed Intelligent Systems
1. Focus: models, control,
algorithms
2. HW substrate: mechatronic
3. Publication venues:
robotics + more domain-
specific communities
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3.5 m
C-Zero
DISAL Mobile Platforms
size
40 cm
14 cm
2 cm
Alice II
Khepera III & IV
e-puck
7 cm
• Different mobility
• Different environments
• Different standards
• Resources vs. size
• Modular vs. custom designRanger
Hummingbird
60 cm
MBot
Serafina
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AutoNet2030
FP7 STREP project AutoNet2030 aims to research and validate
procedures and algorithms for interaction control among co-operative
vehicles, including both automated and manually driven vehicles.
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AutoNet2030
• Standardized use of 5.9 GHz V2V communications in
service of automated driving
• A path for cost-optimized automated driving technology,
making it more widely deployable
• Demonstration of inherently safe cooperative maneuvering
control algorithms
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(Robot) Convoy
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Consensus
• In a network of connected agents (connected graph), the
goal is to make all agents agree on their state.
• Each node is given a state xi, the goal is to make x1 = x2
= … = xN as time tends to infinity.
• One possible solution is averaging:
8 [M.Mesbahi and M. Egerstedt, 2010]
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Incidence Matrix
Graph Theory
Laplacian Matrix
Graph
Vertex Set:
Edge Set:
9 [M.Mesbahi and M. Egerstedt, 2010]
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Consensus
• In a network of connected agents (connected graph), the
goal is to make all agents agree on their state.
• Each node is given a state xi, the goal is to make x1 = x2
= … = xN as time tends to infinity.
• One possible solution is averaging:
• Equivalent to Laplacian feedback control:
10 [M.Mesbahi and M. Egerstedt, 2010]
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Consensus
• Control of holonomic robots in 2D space.
11 [M.Mesbahi and M. Egerstedt, 2010]
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Consensus• The biased Laplacian feedback control to
achieve formations:
12 [M.Mesbahi and M. Egerstedt, 2010]
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Car Model
• Let’s go back to our convoy problem.
• Simple car model:
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From Coordinates to Control Variables
• Let’s assume we now have to control a single vehicle
with the holonomic control variables:
‣ We need to transform to .
• We create from this displacement vector a goal point and
goal line.
Assumption:
• Direction is known
• Speed is known
[Gowal et al., IROS 2010]14
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Control Law
‣ Lateral controller:
‣ Longitudinal controller:
Reaches the goal line
Reaches the goal point
[Linderoth et al., 2008]
[Gowal et al., IROS 2010]15
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Vehicular Formation
• If the biased Laplacian feedback control is used
we can create formations,
• Specifying only lateral and longitudinal
distances between vehicles.
[Gowal et al., IROS 2010]16
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Handling Collisions
• Remember that
• Positive weights will attract vehicles together.
• Negative weights will create a repulsion mechanism.
+-
• If the body of a car enters the collision region of another
car, the edge linking these cars become repulsive
[Gowal et al., IROS 2010]17
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Convoy no roads
[Gowal et al., IROS 2010]18
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Webots & RO2IVSim project
• CTI project, collaboration with Cyberbotics Sarl and PSA
• Transporting high-fidelity simulation tools from robotics to
automotive engineering
• Multi-vehicle, submicroscopic simulator Webots
• Dedicated networking plug-in: OmNet++, NS-3 (within Autonet)
19 [Gowal et al., ITSC 2010]
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Distributed convoys
• Cars only accounts for their close neighbours
• No global knowledge of the shape, of the number of cars, ...
• Flexibility, no long distance communication
• Globally the graph is connected (connection of local graphs)
[Marjovi et al., IV2015]20
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Distributed convoys
• Cars know positions of neighboring cars
• Maintain local matrices: Laplacian & bias matrices
[Marjovi et al., IV2015]21
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Going to the roads
• Car must know the orientation of the road and
their relative position to the expected trajectory.
– using computer vision
– static map of the road & GPS
• Convoy in a rotated reference system
– X axis parallel tangent to the road
[Marjovi et al., IV2015]22
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Going to the roads
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Going to the roads
• Car must know the orientation of the road and
their relative position to the expected trajectory.
– using computer vision
– Static map of the road & GPS
• Convoy in a rotated reference system
– X axis parallel tangent to the road
• Compose lateral controller with lane keeping
[Marjovi et al., IV2015]24
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Going to the roads
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Dynamical operations
• Distributed and local nature of the controller allows
for local modifications of the graph
• They propagate on a hop to hop communication basis
• Allow of join, leave, and lane change operations
• Implemented so far for 2 lane convoy
[Marjovi et al., IV2015]26
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[Marjovi et al., IV2015]
Dynamical operations: leave
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[Marjovi et al., IV2015]
Dynamical operations: join
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Work in progress (& future)
• Applying Laplacian control in curvilinear coordinates of
the road.
• Dynamical operations with any number of lanes
• Dynamical operations robust to delays and package loss.
• Heterogeneous vehicles and general graph topology (non
rectangular restricted).
• Prove of stability.
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Demonstration & validation
in real world in Autonet2030
• 2 automated Scania trucks + Fiat manual
using HMI
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Other graph-based formations at DISAL
Distributed Odor Localization [Soares et al., ICRA 2015] MOnarCH FP7 [Wasik et al., IROS 2015, under review]
3D formation with quadrotors [Dias et al., IROS 2015, under review]31
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References
• M.Mesbahi and M. Egerstedt, Graph theoretic methods in multiagent networks. Princeton
University Press, 2010.
• S. Gowal, R. Falconi, A. Martinoli , Local Graph-based Distributed Control for Safe Highway
Platooning, IROS 2010.
• M. Linderoth, K. Soltesz, R.M. Murray, Nonlinear lateral control strategy for nonholonomic
vehicles, American Control Conference, 3219-3224, 2008.
• S. Gowal, Y. Zhang, and A. Martinoli, A realistic simulator for the design and evaluation of
intelligent vehicles, in IEEE International Conference on Intelligent Transportation Systems,
2010, pp. 1039–1044.
• A. Marjovi, M. Vasic, J. Lemaitre, A. Martinoli, Distributed Graph-based Convoy Control for
Networked Intelligent Vehicles, IEEE Intelligent vehicle symposium, 2015 [to appear].
• J. M. Soares, A. P. Aguiar, A. M. Pascoal and A. Martinoli, A Distributed Formation-based
Odor Source Localization Algorithm – Design, Implementation, and Wind Tunnel Evaluation,
ICRA 2015 [to appear].
• A. Wasik, J. N. Pereira, R. Ventura, P. Lima and A. Martinoli, Graph Based Distributed
Control for Cooperative Patrolling in Human Populated Complex Environments, under review
IROS2015.
• Duarte Dias, R. Ventura, P. Lima, A. Martinoli, On-Board Vision-Based Relative Positioning
Sensing System and Formation Control for a Fleet of Quadrotors , under review IROS2015.
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Thank you!
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Thank you!
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