Erick J. Rodríguez-Seda

United States Naval Academy

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Mark W. Spong

The University of Texas at Dallas

Dušan M. Stipanović

University of Illinois Urbana-Champaign

Kiriakos Kiriakidis

United States Naval Academy

Tracie A. Severson

United States Naval Academy

Ryan Robucci

University of Maryland, Baltimore County

Brien Croteau

United States Naval Academy

Chintan Patel

Bodyline Hospitals

Nilanjan Banerjee

University of Maryland, Baltimore County

Deepak Krishnankutty

University of Maryland, Baltimore County

Dongjun Lee

Seoul National University

Cooperative Institutions

United States Naval Academy

University of Illinois Urbana-Champaign

University of Maryland, College Park

University of Maryland, Baltimore County

University of Maryland, Baltimore

Universitat Politècnica de Catalunya

Toyohashi University of Technology

Georgia Institute of Technology

Behavioral Tech Research, Inc.

Boeing (United States)

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Decentralized Persistent Area Coverage Control with Loss of Awareness

2021 IEEE Conference on Control Technology and Applications (CCTA) (2020)

Erick J. Rodríguez-Seda Yancy Diaz-Mercado

This paper presents a decentralized, hybrid control approach for persistent area coverage control applications. The hybrid cooperative control framework builds on the concepts of cellular automata and awareness-based model to guarantee safe coverage of a large-scale domain by a network of mobile wireless sensors with bounded input disturbances and limited communication and sensing ranges. The framework only requires communication among nearby agents at discrete intervals of time, reducing the communication among agents. Results are validated through simulation and experiments with a team of ten differential-drive mobile robots.

10.1109/ccta41146.2020.9206267

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Citations (3)

Persistent Awareness-Based Multi-Robot Coverage Control

2021 60th IEEE Conference on Decision and Control (CDC) (2020)

Xiaotian Xu Erick J. Rodríguez-Seda Yancy Diaz-Mercado

The persistent coverage control problem is solved in a decentralized fashion for a multi-robot team with limited sensing capability and loss of awareness over time. Each agent in the multi-robot team possesses a measure of awareness about the environment, encoded as time-varying density functions. The team is tasked with increasing their awareness of the domain in a decentralized way while coordinating with neigh-boring agents to maintain coverage over the entire domain. Local exchanges of awareness levels between neighbors is shown to allow awareness information over the entire domain to propagate to all agents with performance guarantees. A control law is proposed to obtain (locally) optimal coverage, and a bound of number of robots for guaranteed loss of awareness of the domain is provided. The proposed control law is verified in silico for a team of nonholonomic planar robots.

Decentralised system

Nonholonomic system

Situation Awareness

10.1109/cdc42340.2020.9304483

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Citations (5)

Teaching the Reachable and Dexterous Workspace of Articulated Robotic Manipulators Using MATLAB Animation

Michael D. M. Kutzer Erick J. Rodríguez-Seda

Abstract In the context of articulated robotic manipulation, reachable and dexterous workspace define regions of space that can be reached by the end-effector or tool center point (TCP) of a robot. This paper presents an approach to teaching the concepts of reachable and dexterous workspace using MATLAB animations. These methods rely on existing MATLAB tools which limit the visualization to two dimensions (2D). Despite this limitation, these tools have produced a qualitative improvement in student understanding. This paper details the visualization approach used including a review of core concepts and algorithms. Results show reachable and dexterous workspace visualizations for three degree-of-freedom (DoF), planar articulated manipulators consisting of various configurations of revolute (rotational) and prismatic (linear) joints. Source code, documentation, and installation functions for the “Visualize Workspace Toolbox” are available at https://github.com/USNA-WRCE/VisualizeWorkspaceToolbox.

Work space

Robot manipulator

Robotic hand

Manipulator (device)

10.1115/imece2023-113471

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Citations (0)

Self-triggered collision avoidance control for multi-vehicle systems

Erick J. Rodríguez-Seda

The implementation of collision detection mechanisms on-board of unmanned vehicles typically relies on digital platforms and shared communication networks. The discrete nature of these technologies does not only limit the frequency at which nearby obstacles and other vehicles are detected, but it also raises the demand for a better allocation of the vehicle's computational and communication resources. For instance, it is natural and convenient to adapt the frequency at which other vehicles are observed based on their distance and collision risk, a notion that relates to topics in minimum attention control and self-triggered control. In this paper, we report on a cooperative, decentralized self-triggered avoidance control law for an arbitrary large group of unmanned vehicles that reduces the attention and sampling frequency of other vehicles' position. The proposed control strategy guarantees the safe coordination of all vehicles at all times while reducing the sampling frequency of other vehicles' position based on their last available sample. We show that the sampling intervals are positive and lower bounded, which is critical for digital implementation. A simulation example is used to illustrate the performance of the avoidance control strategy.

Position (finance)

10.1109/icra.2015.7139220

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Citations (8)

Analysis and Design of Position-Force Teleoperation with Scattering Matrix

IFAC Proceedings Volumes (2008)

Minh Duc Duong Takanori Miyoshi Kazuhiko Terashima Erick J. Rodríguez-Seda

Teleoperation

Position (finance)

Matrix (chemical analysis)

Oscillation (cell signaling)

10.3182/20080706-5-kr-1001.02151

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Citations (6)

Guaranteed Safe Motion of Multiple Lagrangian Systems with Limited Actuation

Erick J. Rodríguez-Seda Mark W. Spong

In this paper we present decentralized, reactive, cooperative collision avoidance strategies for a group of nonlinear Lagrangian vehicles with limited actuation and bounded sensing range. The avoidance control strategies, which are continuous, build on the concept of avoidance functions and are synthesized with a time-varying set-point control law that drives the agents towards their desired final configurations (possibly time-varying) while avoiding deadlocks and unwanted local minima. We show, by using results from packing optimization and Lyapunov-based analysis, that the overall control strategies are bounded, comply with the agents's dynamic constraints (i.e., limited actuation and acceleration), and guarantee collision-free trajectories for all agents. Moreover, we provide a bound on the number of agents that can interact with a single vehicle at any given time and illustrate their performance via a numerical example with a group of twelve vehicles.

Maxima and minima

10.1109/cdc.2012.6425990

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Citations (13)

Cross-level Detection of Sensor-based Deception Attacks on Cyber-Physical Systems

Brien Croteau Deepak Krishnankutty Ryan Robucci Chintan Patel Nilanjan Banerjee

From electricity distribution to water management, higher levels of efficiency and performance have been attained by the synergy of computers, communications, and control. This higher level of performance, however, comes at a cost to system security. Cyber-Physical Systems (CPS) have intrinsic vulnerabilities that malicious agents can explore in order to harm the integrity of the system. An attacker employing deception-based methods seeks to have their target believe an incorrect version of reality. This paper describes two anomaly detection approaches using, respectively, micro-level and process-level techniques which are then combined into one cross-level hypothesis test. The process-level (also referred as macro-level) detector uses the physical interconnections that exist between the multiple sensors and implements a consensus algorithm to determine if one sensor is reporting anomalous values. The micro-level detector uses measurements of the integrated circuit power supply current draw sampling several times per clock cycle to determine if the code running inside the micro-controller of a sensor has been altered. One example of a sensor-based deception attack the present work focuses on is a simple replay attack launched from one sensor within the system that aims to mislead controllers while eluding conventional fault detectors. The theoretical performance of the proposed method is evaluated in two laboratory experiments.

Cyber-physical system

10.1109/cyber.2017.8446537

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Citations (5)

Trust-Based Framework for Resilience to Sensor-Targeted Attacks in Cyber-Physical Systems

Tracie A. Severson Erick J. Rodríguez-Seda Kiriakos Kiriakidis Brien Croteau Deepak Krishnankutty

Networked control systems improve the efficiency of cyber-physical plants both functionally, by the availability of data generated even in far-flung locations, and operationally, by the adoption of standard protocols. A side-effect, however, is that now the safety and stability of a local process and, in turn, of the entire plant are more vulnerable to malicious agents. Leveraging the communication infrastructure, the authors here present the design of networked control systems with built-in resilience. Specifically, the paper addresses attacks known as false data injections that originate within compromised sensors. In the proposed framework for closed-loop control, the feedback signal is constructed by weighted consensus of estimates of the process state gathered from other interconnected processes. Observers are introduced to generate the state estimates from the local data. Side-channel monitors are attached to each primary sensor in order to assess proper code execution. These monitors provide estimates of the trust assigned to each observer output and, more importantly, independent of it; these estimates serve as weights in the consensus algorithm. The authors tested the concept on a multi-sensor networked physical experiment with six primary sensors. The weighted consensus was demonstrated to yield a feedback signal within specified accuracy even if four of the six primary sensors were injecting false data.

Cyber-physical system

Resilience

Process state

Observer (physics)

Consensus algorithm

SIGNAL (programming language)

10.23919/acc.2018.8431909

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Citations (9)

Distributed Persistent Awareness-Based Area Coverage Control by Mobile Robots

Springer proceedings in advanced robotics (2024)

Erick J. Rodríguez-Seda Chelsey Washington Donald Sofge Aaron Roth C H Venkata Siva Prasad