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Event-Based Sensing and Control for Remote Robot Guidance: An Experimental Case.

Carlos Santos1, Miguel Martínez-Rey2, Felipe Espinosa3

  • 1Electronics Department, University of Alcalá, Engineering School, Campus Universitario, 28871 Alcalá de Henares, Spain. carlos.santos@uah.es.

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Summary

This study introduces an event-based networked control system for mobile robot trajectory tracking. It efficiently reduces communication by using state estimation to trigger sensor measurements, minimizing data transmission.

Keywords:
covariance-based triggeringevent-based Lyapunov controlevent-based state estimationnonlinear trajectory trackingpractical stabilityrobotic remote guidance

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Area of Science:

  • Robotics
  • Control Systems Engineering
  • Networked Systems

Background:

  • Mobile robot control often relies on continuous communication, leading to high bandwidth usage.
  • Event-based systems offer potential for efficient communication in networked control.

Purpose of the Study:

  • To develop and validate an event-based control and estimation strategy for nonlinear trajectory tracking in mobile robots.
  • To minimize communication overhead while maintaining acceptable robot guidance performance.

Main Methods:

  • Utilizing an event-based state estimator to manage measurement requests based on estimation error covariance.
  • Employing the Unscented transformation for state prediction between measurements.
  • Implementing a networked control system with a P3-DX robot, a mini PC, and camera-based pose detection.

Main Results:

  • A significant reduction in communication accesses was achieved.
  • The event-based approach maintained robot guidance performance within acceptable tracking error margins.
  • Efficient use of communication resources and reduced sensor activity were demonstrated.

Conclusions:

  • The proposed combined event-based control and estimation solution effectively reduces communication in networked mobile robot systems.
  • This method provides a practical approach for efficient remote control of robots following nonlinear trajectories.