Model predictive impedance control with Gaussian processes for human and environment interaction

Robotic tasks which involve uncertainty – due to variation in goal, environment configuration, or confidence in task model – may require human input to instruct or adapt the robot. In tasks with physical contact, several existing methods for adapting robot trajectory or impedance according to individual uncertainties have been proposed, e.g.,...

Distributed multi-agent magnetic field norm SLAM with Gaussian processes

Accurately estimating the positions of multi-agent systems in indoor environments is challenging due to the lack of Global Navigation Satelite System (GNSS) signals. Noisy measurements of position and orientation can cause the integrated position estimate to drift without bound. Previous research has proposed using magnetic field simultaneous...

Gaussian process repetitive control: Beyond periodic internal models through kernels

Repetitive control enables the exact compensation of periodic disturbances if the internal model is appropriately selected. The aim of this paper is to develop a novel synthesis technique for repetitive control (RC) based on a new more general internal model. By employing a Gaussian process internal model, asymptotic rejection is obtained for...

A Two-Stage Bayesian optimisation for Automatic Tuning of an Unscented Kalman Filter for Vehicle Sideslip Angle Estimation

This paper presents a novel methodology to auto-tune an Unscented Kalman Filter (UKF). It involves using a Two-Stage Bayesian Optimisation (TSBO), based on a t-Student Process to optimise the process noise parameters of a UKF for vehicle sideslip angle estimation. Our method minimises performance metrics, given by the average sum of the states’...

Three Symmetries for Data-Driven Pedestrian Inertial Navigation

The last years have seen a growing body of literature on data-driven pedestrian inertial navigation. However, despite this, it is still unclear how to efficiently combine classical models and other a priori information with existing machine learning frameworks. In this paper, we first categorize existing approaches to data-driven pedestrian...

Position-Dependent Snap Feedforward: A Gaussian Process Framework

Mechatronic systems have increasingly high performance requirements for motion control. The low-frequency contribution of the flexible dynamics, i.e., the compliance, should be compensated for by means of snap feedforward to achieve high accuracy. Position-dependent compliance, which often occurs in motion systems, requires the snap feedforward...

Sparse quantum Gaussian processes to counter the curse of dimensionality

Gaussian processes are well-established Bayesian machine learning algorithms with significant merits, despite a strong limitation: lack of scalability. Clever solutions address this issue by inducing sparsity through low-rank approximations, often based on the Nystrom method. Here, we propose a different method to achieve better scalability...

Predicting the infuence of Urban vacant lots on neighborhood property values

Vacant lots are municipally-owned land parcels which were acquired post-abandonment or due to tax foreclosures. With time, failure to sell or find alternate uses for vacant lots results in them causing adverse effects on the health and safety of residents, and cost the city both directly and indirectly. Although existing research has tried to...

A numerical Bayesian-calibrated characterization method for multiscale prepreg preforming simulations with tension-shear coupling

Carbon fiber reinforced plastics (CFRPs) are attracting growing attention in industry because of their enhanced properties. Preforming of thermoset carbon fiber prepregs is one of the most common production techniques of CFRPs. To simulate preforming, several computational methods have been developed. Most of these methods, however, obtain...

LQG and Gaussian process techniques: For fixed-structure wind turbine control

Wind turbines are growing bigger to becomemore cost-efficient. This does increase the severity of the vibrations that are present in the turbine blades, both due to predictable effects like wind shear and tower shadow, and due to less predictable effects like turbulence and flutter. If wind turbines are to become bigger and more cost-efficient,...

Adaptive efficient global optimization of systems with independent components

We present a novel approach for efficient optimization of systems consisting of expensive to simulate components and relatively inexpensive system-level simulations. We consider the types of problem in which the components of the system problem are independent in the sense that they do not exchange coupling variables, however, design...

Trajectory driven multidisciplinary design optimization of a sub-orbital spaceplane using non-stationary Gaussian process

This paper presents the multidisciplinary optimization of an aircraft carried sub-orbital spaceplane. The optimization process focused on three disciplines: the aerodynamics, the structure and the trajectory. The optimization of the spaceplane geometry was coupled with the optimization of its trajectory. The structural weight was estimated using...

Correlation inequalities and applications to vector-valued Gaussian random variables and fractional Brownian motion