Collaborative Teams of Heterogeneous Robots for ... · PDF fileCollaborative Teams of...
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CollaborativeTeamsofHeterogeneousRobotsforAgriculturalApplications
Asst.Prof.GirishChowdharyDirectorofDistributedAutonomousSystemslab
AgriculturalandBiologicalEngineering,CoordinatedSciencesLab,
InstituteforGenomicBiology,AerospaceEngineering,BeckmanInstitute
www.daslab.illinois.edu
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• Robotics– Smallagriculturalrobots– UnmannedAerialSystems
• Collaborative– Robotics– LearningfromHumandemonstrations
• FieldIntelligence:– Machinelearning– NeuralNetworks
• AdaptiveAutonomy– Adaptivecontrol– ReinforcementLearning
AdvancingtheScienceofAutonomy
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Group:1ResearchFaculty,1Postdocs,2ResearchEngineers,6PhDstudents,3MS,4researchassistants
HighThroughputPhenotyping
• Phenotyping:Relatinggeneticstoplanttraits• Criticaltoefficientandproductivebreeding• Currentlylaborintensive
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DOEARPA-ETERRA-MEPP
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HerbicideResistantWeeds!
• Examples:5-waymultipleresistantWaterhemp andPalmerAmaranth• Currentcost5-6Billion,andontherise!• Mechanicalcontrolistheonlyevolutionarilysustainableway
ConfirmedGlyphosateresistantweedsinUS
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Wherearetheagrobots?
Mainchallenges:- Autonomy- Cost- Easeofuse
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CompactLow-CostUASarePractical
• Widelyadoptedconsumersystemsarelow-cost,simple,andmulti-purpose
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Aplug-and-playautopilotdesignedtoworkacrossseveralaerospacevehicles.
OverviewofInversionBasedMRAC
�̇�𝑥 = 𝑓𝑓& 𝑥𝑥, 𝑢𝑢 + 𝑓𝑓 𝑥𝑥, 𝑢𝑢 − 𝑓𝑓& 𝑥𝑥, 𝑢𝑢
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ModelingerrorΔ ∈ ℜ.
n Combinedpseudo-controlaction:𝜈𝜈 = −𝐾𝐾𝐾𝐾 + �̇�𝑥23 − 𝜈𝜈45
n Trackingerrordynamics�̇�𝐾 = 𝐴𝐴𝐾𝐾 + 𝐵𝐵(𝜈𝜈45 − Δ)
rmx
Reference Model 1ˆ -f f
Adaptation Law
PD compensator
𝑢𝑢
pdn
adn-Adaptive Element
𝐾𝐾x𝑢𝑢crmn-cx +
n Approximateinversionmodel𝑓𝑓&
n Designapseudocontrol𝜈𝜈tominimizethetrackingerror:𝐾𝐾 = 𝑥𝑥 − 𝑥𝑥23
n
AdaptiveSystems
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Plug-and-AdaptAutonomy
• ChowdharyG.,WuT.,CutlerM.,HowJ.P.,“RapidTransferofControllersBetweenUAVsusingLearningBasedAdaptiveControl”,IEEEInternationalConferenceonRoboticsandAutomation,2013.
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GP-MRAC:DisturbanceAdaptation
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§ Grande,Chowdhary,HowJAIS2014(ExperimentalValidationofBayesianNonparametricAdaptiveControlusingGaussianProcesses)
§ GP-MRAClearnshowthedisturbanceaffectforcesontheUAV
CollaborativeRoboticTeams
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HumanCollaborativeRobots
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SmartRoboticTeamsforAgriculture
IntegrativeResearchGoals:• Autonomy• Multi-robotcollaboration• Cost• SeamlessHuman-Machineinteraction 15
autonomousPathFollowingandobstacleavoidance
8xspeed
Sensors
AutonomousTestinginSorghumplots2017
LanekeepingwithConvolutionalDNN
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CornCounting
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BroadLeafWeedDetection
1 2 3 4 22
DevianceDetectionfromAerialImages
Fromtake-offtoactionability,in20minutesorless!23
UIUCTeam• Deeproboticsandcrop-scienceexpertise• SuccessfulprototypesandmodularCyber-Physicalsystems• 16top5rankedengineeringprograms• Highlyaccomplishedfaculty:USDA– ARSchairstoFellowof
theRoyalSociety
SteveLong,CropScience AdamDavis,CropScienceUSDA-ARS
CarlBernacchi,CropScienceUSDA-ARS
SethHutchison,ECERoboticist
InstituteofGenomicBiology
GirishChowdhary,ABERoboticist
CoordinatedScienceLab 24
Teamwork!• Team:
– Postdoctoralassociates:Erkan Kayacan– PostdoctoralFellow/ResearchAssistantProf:Chinmay Soman– PHD:AllanAxelrod,GirishJoshi,Harshal Maske,Anay Patnaik,DennisOsipychev,JoshuaWhitman– MS:Anwesa Chaudhari,BeauBarber,HunterYoung– ResearchEngineers:NolanReplogle,SriVuppala– ResearchAssistants:BenThompson,VolgaKarkaus,Zang Zhongzhong– Visitingfellow:AkihiroHiguti (UniversityofSao-PauloBrazil)
• Collaborators:– Sertack Karaman,AFOSRDDDPSA– Prabhakar Pagilla,ChristopherCrick,andCharlesAbramson,NSFNRI– SteveLong,CarlBernacchi DOE-ARPA-E– AdamDavis,Weedingswarmbots
• Support– ARPA-E– AFOSRYoungInvestigatorAward,JamesLawton– AFOSRDDDAS,FredericaDarema– NSFNRI– DOE– NASA
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EARTHSENSEAgricultural Intelligence
Wheretofromhere?
• Agrobotsareheretostay• Challenges– Cost– Autonomy– Reliability– EaseofUse
• Whatwoulddriveadoption?
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Backup
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