An Efficient Multi-solution Solver for the Inverse Kinematics of 3-Section Constant-Curvature Robots
Piecewise constant curvature is a popular kinematics framework for continuum robots. Computing the model parameters from the desired end pose, known as the inverse kinematics problem, is fundamental in manipulation, tracking and planning tasks. In this paper, we propose an efficient multi-solution solver to address the inverse kinematics problem of 3-section constant-curvature robots by bridging both the theoretical reduction and numerical correction. We derive analytical conditions to simplify the original problem into a one-dimensional problem. Further, the equivalence of the two problems is formalised. In addition, we introduce an approximation with bounded error so that the one dimension becomes traversable while the remaining parameters analytically solvable. With the theoretical results, the global search and numerical correction are employed to implement the solver. The experiments validate the better efficiency and higher success rate of our solver than the numerical methods when one solution is required, and demonstrate the ability of obtaining multiple solutions with optimal path planning in a space with obstacles.
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Since optimization on Riemannian manifolds relies on the chosen metric, it is appealing to know that how the performance of a Riemannian optimization method varies with different metrics and how to exquisitely construct a metric such that a method can be accelerated. To this end, we propose a general framework for optimization problems on product manifolds where the search space is endowed with a preconditioned metric, and we develop the Riemannian gradient descent and Riemannian conjugate gradient methods under this metric. Specifically, the metric is constructed by an operator that aims to approximate the diagonal blocks of the Riemannian Hessian of the cost function, which has a preconditioning effect. We explain the relationship between the proposed methods and the variable metric methods, and show that various existing methods, e.g., the Riemannian Gauss--Newton method, can be interpreted by the proposed framework with specific metrics. In addition, we tailor new preconditioned metrics and adapt the proposed Riemannian methods to the canonical correlation analysis and the truncated singular value decomposition problems, and we propose the Gauss--Newton method to solve the tensor ring completion problem. Numerical results among these applications verify that a delicate metric does accelerate the Riemannian optimization methods.
The vehicle routing problem with time windows (VRPTW) is a classic optimization problem that arises in many different areas, such as logistics and transportation. The goal of the VRPTW is to find the shortest possible route for a fleet of vehicles to visit a set of destinations. In recent years, there has been growing interest in using variational quantum algorithms (VQAs), to find approximate solutions to problems that can be formulated as quadratic unconstrained binary optimization (QUBO) problems. In this work, we formulate the VRPTW as a QUBO and apply a quantum variational approach to the VRPTW using our earlier suggested encoding scheme described in [1] to reduce drastically the number of qubits required. We evaluate our approach on a set of VRPTW instances ranging from 11 to 3964 routes constructed with data provided by researchers from ExxonMobil. We compare the solutions obtained with standard full encoding approaches for which the max problems size possible in NISQ era are of the order of 20-30 routes. We run our algorithms in simulators as well as cloud quantum hardware provided by IBMQ, AWS (Rigetti) and IonQ and benchmark our results against each other as well as on the simulators. We show that our approach can find approximate solutions to the VRPTW that are comparable to the solutions found by quantum algorithms using the full encoding. Our results suggest that our unique encoding approach, provides a promising approach to drastically reducing the number of qubits required to find decent approximate solutions for industry-based optimization problems.
In this work we connect two notions: That of the nonparametric mode of a probability measure, defined by asymptotic small ball probabilities, and that of the Onsager-Machlup functional, a generalized density also defined via asymptotic small ball probabilities. We show that in a separable Hilbert space setting and under mild conditions on the likelihood, modes of a Bayesian posterior distribution based upon a Gaussian prior exist and agree with the minimizers of its Onsager-Machlup functional and thus also with weak posterior modes. We apply this result to inverse problems and derive conditions on the forward mapping under which this variational characterization of posterior modes holds. Our results show rigorously that in the limit case of infinite-dimensional data corrupted by additive Gaussian or Laplacian noise, nonparametric maximum a posteriori estimation is equivalent to Tikhonov-Phillips regularization. In comparison with the work of Dashti, Law, Stuart, and Voss (2013), the assumptions on the likelihood are relaxed so that they cover in particular the important case of white Gaussian process noise. We illustrate our results by applying them to a severely ill-posed linear problem with Laplacian noise, where we express the maximum a posteriori estimator analytically and study its rate of convergence in the small noise limit.
This paper presents a novel framework enabling end-users to perform the management of complex robotic workplaces using a tablet and augmented reality. The framework allows users to commission the workplace comprising different types of robots, machines, or services irrespective of the vendor, set task-important points in space, specify program steps, generate a code, and control its execution. More users can collaborate simultaneously, for instance, within a large-scale workplace. Spatially registered visualization and programming enable a fast and easy understanding of workplace processes, while high precision is achieved by combining kinesthetic teaching with specific graphical tools for relative manipulation of poses. A visually defined program is for execution translated into Python representation, allowing efficient involvement of experts. The system was designed and developed in cooperation with a system integrator based on an offline printed circuit board testing use case, and its user interface was evaluated multiple times during the development. The latest evaluation was performed by three experts and indicates the high potential of the solution.
The value maximization version of the secretary problem is the problem of hiring a candidate with the largest value from a randomly ordered sequence of candidates. In this work, we consider a setting where predictions of candidate values are provided in advance. We propose an algorithm that achieves a nearly optimal value if the predictions are accurate and results in a constant-factor competitive ratio otherwise. We also show that the worst-case competitive ratio of an algorithm cannot be higher than some constant $< 1/\mathrm{e}$, which is the best possible competitive ratio when we ignore predictions, if the algorithm performs nearly optimally when the predictions are accurate. Additionally, for the multiple-choice secretary problem, we propose an algorithm with a similar theoretical guarantee. We empirically illustrate that if the predictions are accurate, the proposed algorithms perform well; meanwhile, if the predictions are inaccurate, performance is comparable to existing algorithms that do not use predictions.
Time is a crucial factor in modelling dynamic behaviours of intelligent agents: activities have a determined temporal duration in a real-world environment, and previous actions influence agents' behaviour. In this paper, we propose a language for modelling concurrent interaction between agents that also allows the specification of temporal intervals in which particular actions occur. Such a language exploits a timed version of Abstract Argumentation Frameworks to realise a shared memory used by the agents to communicate and reason on the acceptability of their beliefs with respect to a given time interval. An interleaving model on a single processor is used for basic computation steps, with maximum parallelism for time elapsing. Following this approach, only one of the enabled agents is executed at each moment. To demonstrate the capabilities of language, we also show how it can be used to model interactions such as debates and dialogue games taking place between intelligent agents. Lastly, we present an implementation of the language that can be accessed via a web interface. Under consideration in Theory and Practice of Logic Programming (TPLP).
This paper presents a novel derivation of the direct parametrisation method for invariant manifolds able to build simulation-free reduced-order models for nonlinear piezoelectric structures, with a particular emphasis on applications to Micro-Electro-Mechanical-Systems. The constitutive model adopted accounts for the hysteretic and electrostrictive response of the piezoelectric material by resorting to the Landau-Devonshire theory of ferroelectrics. Results are validated with full-order simulations operated with a harmonic balance finite element method to highlight the reliability of the proposed reduction procedure. Numerical results show a remarkable gain in terms of computing time as a result of the dimensionality reduction process over low dimensional invariant sets. Results are also compared with experimental data to highlight the remarkable benefits of the proposed model order reduction technique.
Efficiently running federated learning (FL) on resource-constrained devices is challenging since they are required to train computationally intensive deep neural networks (DNN) independently. DNN partitioning-based FL (DPFL) has been proposed as one mechanism to accelerate training where the layers of a DNN (or computation) are offloaded from the device to the server. However, this creates significant communication overheads since the activation and gradient need to be transferred between the device and the server during training. While current research reduces the communication introduced by DNN partitioning using local loss-based methods, we demonstrate that these methods are ineffective in improving the overall efficiency (communication overhead and training speed) of a DPFL system. This is because they suffer from accuracy degradation and ignore the communication costs incurred when transferring the activation from the device to the server. This paper proposes EcoFed - a communication efficient framework for DPFL systems. EcoFed eliminates the transmission of the gradient by developing pre-trained initialization of the DNN model on the device for the first time. This reduces the accuracy degradation seen in local loss-based methods. In addition, EcoFed proposes a novel replay buffer mechanism and implements a quantization-based compression technique to reduce the transmission of the activation. It is experimentally demonstrated that EcoFed can significantly reduce the communication cost by up to 114x and accelerates training by up to 25.66x when compared to classic FL. Compared to vanilla DPFL, EcoFed achieves a 13.78x communication reduction and 2.83x training speed up.
Quickly and reliably finding accurate inverse kinematics (IK) solutions remains a challenging problem for robotic manipulation. Existing numerical solvers are broadly applicable, but typically only produce a single solution and rely on local search techniques to minimize highly nonconvex objective functions. More recent learning-based approaches that approximate the entire feasible set of solutions have shown promise as a means to generate multiple fast and accurate IK results in parallel. However, existing learning-based techniques have a significant drawback: each robot of interest requires a specialized model that must be trained from scratch. To address this key shortcoming, we investigate a novel distance-geometric robot representation coupled with a graph structure that allows us to leverage the flexibility of graph neural networks (GNNs). We use this approach to train the first learned generative graphical inverse kinematics (GGIK) solver that is able to produce a large number of diverse solutions in parallel and to also generalize: a single learned model can be used to produce IK solutions for a variety of different robots. When compared to several other learned IK methods, GGIK provides more accurate solutions. GGIK is also able to generalize reasonably well to robot manipulators unseen during training. Finally, we show that GGIK can be used to complement local IK solvers by providing reliable initializations to seed the local optimization process.
When is heterogeneity in the composition of an autonomous robotic team beneficial and when is it detrimental? We investigate and answer this question in the context of a minimally viable model that examines the role of heterogeneous speeds in perimeter defense problems, where defenders share a total allocated speed budget. We consider two distinct problem settings and develop strategies based on dynamic programming and on local interaction rules. We present a theoretical analysis of both approaches and our results are extensively validated using simulations. Interestingly, our results demonstrate that the viability of heterogeneous teams depends on the amount of information available to the defenders. Moreover, our results suggest a universality property: across a wide range of problem parameters the optimal ratio of the speeds of the defenders remains nearly constant.
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