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Santos C, Martínez-Rey M, Espinosa F, et al. Event-Based Sensing and Control for Remote Robot Guidance: An Experimental Case. Sensors (Basel). 2017;17(9)doi: 10.3390/s17092034.
Santos, C., Martínez-Rey, M., Espinosa, F., Gardel, A., & Santiso, E. (2017). Event-Based Sensing and Control for Remote Robot Guidance: An Experimental Case. Sensors (Basel, Switzerland), 17(9), . https://doi.org/10.3390/s17092034
Santos, Carlos, et al. "Event-Based Sensing and Control for Remote Robot Guidance: An Experimental Case." Sensors (Basel, Switzerland) vol. 17,9 (2017). doi: https://doi.org/10.3390/s17092034
Santos C, Martínez-Rey M, Espinosa F, Gardel A, Santiso E. Event-Based Sensing and Control for Remote Robot Guidance: An Experimental Case. Sensors (Basel). 2017 Sep 06;17(9). doi: 10.3390/s17092034. PMID: 28878144; PMCID: PMC5621349.
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Sensors (Basel). 2017 Sep 06;17(9). doi: 10.3390/s17092034.

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

Sensors (Basel, Switzerland)

Carlos Santos, Miguel Martínez-Rey, Felipe Espinosa, Alfredo Gardel, Enrique Santiso

Affiliations

  1. Electronics Department, University of Alcalá, Engineering School, Campus Universitario, 28871 Alcalá de Henares, Spain. [email protected].
  2. Electronics Department, University of Alcalá, Engineering School, Campus Universitario, 28871 Alcalá de Henares, Spain. [email protected].
  3. Electronics Department, University of Alcalá, Engineering School, Campus Universitario, 28871 Alcalá de Henares, Spain. [email protected].
  4. Electronics Department, University of Alcalá, Engineering School, Campus Universitario, 28871 Alcalá de Henares, Spain. [email protected].
  5. Electronics Department, University of Alcalá, Engineering School, Campus Universitario, 28871 Alcalá de Henares, Spain. [email protected].

PMID: 28878144 PMCID: PMC5621349 DOI: 10.3390/s17092034

Abstract

This paper describes the theoretical and practical foundations for remote control of a mobile robot for nonlinear trajectory tracking using an external localisation sensor. It constitutes a classical networked control system, whereby event-based techniques for both control and state estimation contribute to efficient use of communications and reduce sensor activity. Measurement requests are dictated by an event-based state estimator by setting an upper bound to the estimation error covariance matrix. The rest of the time, state prediction is carried out with the Unscented transformation. This prediction method makes it possible to select the appropriate instants at which to perform actuations on the robot so that guidance performance does not degrade below a certain threshold. Ultimately, we obtained a combined event-based control and estimation solution that drastically reduces communication accesses. The magnitude of this reduction is set according to the tracking error margin of a P3-DX robot following a nonlinear trajectory, remotely controlled with a mini PC and whose pose is detected by a camera sensor.

Keywords: covariance-based triggering; event-based Lyapunov control; event-based state estimation; nonlinear trajectory tracking; practical stability; robotic remote guidance

Conflict of interest statement

The authors declare no conflict of interest.

References

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