Publication Details

Weight-varying Model Predictive Control for Coupled Cyber-Physical Systems: Aerial Grasping Study

NOVÁK, J.; CHUDÝ, P.; HANÁK, J. Weight-varying Model Predictive Control for Coupled Cyber-Physical Systems: Aerial Grasping Study. Machine Learning, Optimization, and Data Science. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Castiglione della Pescaia: 2024. p. 1-15.
Czech title
Adaptivně váhované prediktivní řízení pro sdružené kyber-fyzikální systémy: studie robotiky ve vzdušném prostoru
Type
conference paper
Language
English
Authors
Keywords

Model Predictive Control, Unmanned Aerial Vehicle, Reinforcement Learning

Abstract

Advances in numerical optimization methods have enabled utilization of Nonlinear Model Predictive Control (NMPC) for increasingly complex cyber-physical systems. Tasks requiring interaction of physically connected or unconnected multi-degree of freedom dynamical systems are termed as coupled since they require mutual coordination to achieve a desired goal. This paper is focused on studying an aerial grasping problem composed of an Unmanned Aerial Vehicle (UAV) and a robotic manipulator designed for tasks such as transportation or infrastructure repair. A weight-varying approach based on Reinforecement Learning (RL) is proposed to learn a policy adapting the objective parametrization online based on a set of specified features. Considering that computing the control input actions is streamlined to a proven nonlinear optimization solver, the learning process takes less computational resources compared to learning a policy directly at the control input level.

Published
2024
Pages
1–15
Proceedings
Machine Learning, Optimization, and Data Science
Series
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Place
Castiglione della Pescaia
BibTeX
@inproceedings{BUT189120,
  author="Jiří {Novák} and Peter {Chudý} and Jiří {Hanák}",
  title="Weight-varying Model Predictive Control for Coupled Cyber-Physical Systems: Aerial Grasping Study",
  booktitle="Machine Learning, Optimization, and Data Science",
  year="2024",
  series="Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
  pages="1--15",
  address="Castiglione della Pescaia"
}
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