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Satpute, Sumeet GajananORCID iD iconorcid.org/0000-0003-1437-1809
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Publications (10 of 34) Show all publications
Damigos, G., Seisa, A. S., Satpute, S. G., Lindgren, T. & Nikolakopoulos, G. (2023). A Resilient Framework for 5G-Edge-Connected UAVs based on Switching Edge-MPC and Onboard-PID Control. In: 2020 IEEE 32nd International Symposium on Industrial Electronics (ISIE): Proceedings: . Paper presented at 2023 IEEE 32nd International Symposium on Industrial Electronics (ISIE), Helsiniki-Espoo, Finland, June 19-21, 2023. IEEE
Open this publication in new window or tab >>A Resilient Framework for 5G-Edge-Connected UAVs based on Switching Edge-MPC and Onboard-PID Control
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2023 (English)In: 2020 IEEE 32nd International Symposium on Industrial Electronics (ISIE): Proceedings, IEEE, 2023Conference paper, Published paper (Refereed)
Place, publisher, year, edition, pages
IEEE, 2023
Series
IEEE International Symposium on Industrial Electronics (ISIE)
National Category
Robotics Control Engineering
Research subject
Robotics and Artificial Intelligence
Identifiers
urn:nbn:se:ltu:diva-101398 (URN)10.1109/ISIE51358.2023.10228114 (DOI)2-s2.0-85172099523 (Scopus ID)
Conference
2023 IEEE 32nd International Symposium on Industrial Electronics (ISIE), Helsiniki-Espoo, Finland, June 19-21, 2023
Funder
EU, Horizon 2020, 953454
Note

ISBN for host publication: 979-8-3503-9971-4

Available from: 2023-09-20 Created: 2023-09-20 Last updated: 2024-01-29Bibliographically approved
Sankaranarayanan, V. N., Banerjee, A., Satpute, S. G., Roy, S. & Nikolakopoulos, G. (2023). Adaptive control for a payload carrying spacecraft with state constraints. Control Engineering Practice, 135, Article ID 105515.
Open this publication in new window or tab >>Adaptive control for a payload carrying spacecraft with state constraints
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2023 (English)In: Control Engineering Practice, ISSN 0967-0661, E-ISSN 1873-6939, Vol. 135, article id 105515Article in journal (Refereed) Published
Abstract [en]

In this article, a novel adaptive trajectory tracking controller is designed for a payload-carrying spacecraft under full state constraints. The proposed controller can tackle state-dependent uncertainties without a priori knowledge of their structures and upper bounds. The controller ensures time-varying constraints on all states and their time derivatives. The closed-loop stability of the proposed scheme is verified analytically via the Lyapunov method, and real-life experiments using a robotic testbed validated the effectiveness of the proposed adaptive controller over the state-of-the-art.

Place, publisher, year, edition, pages
Elsevier, 2023
Keywords
Space robots, Nonlinear control, Barrier control, Barrier Lyapunov function, Euler–Lagrangian system
National Category
Robotics Control Engineering
Research subject
Robotics and Artificial Intelligence
Identifiers
urn:nbn:se:ltu:diva-96606 (URN)10.1016/j.conengprac.2023.105515 (DOI)2-s2.0-85151429602 (Scopus ID)
Note

Validerad;2023;Nivå 2;2023-04-17 (hanlid);

Available from: 2023-04-17 Created: 2023-04-17 Last updated: 2023-10-31Bibliographically approved
Sankaranarayanan, V. N., Satpute, S. G., Roy, S. & Nikolakopoulos, G. (2023). Adaptive Control of Euler-Lagrange Systems under Time-varying State Constraints without a Priori Bounded Uncertainty. In: IFAC World Congress 2023: . Paper presented at 22nd World Congress of the International Federation of Automatic Control, IFAC World Congress, 2023, July 9-14, 2023, Yokohama, Japan (pp. 3712-3717).
Open this publication in new window or tab >>Adaptive Control of Euler-Lagrange Systems under Time-varying State Constraints without a Priori Bounded Uncertainty
2023 (English)In: IFAC World Congress 2023, 2023, p. 3712-3717Conference paper, Published paper (Other academic)
Abstract [en]

In this article, a novel adaptive controller is designed for Euler-Lagrangian systems under predefined time-varying state constraints. The proposed controller could achieve this objective without a priori knowledge of system parameters and, crucially, of state-dependent uncertainties. The closed-loop stability is verified using the Lyapunov method, while the overall efficacy of the proposed scheme is verified using a simulated robotic arm compared to the state of the art.

Keywords
Adaptive control, barrier Lyapunov function, Euler-Lagrangian system
National Category
Robotics
Research subject
Robotics and Artificial Intelligence
Identifiers
urn:nbn:se:ltu:diva-101992 (URN)
Conference
22nd World Congress of the International Federation of Automatic Control, IFAC World Congress, 2023, July 9-14, 2023, Yokohama, Japan
Funder
EU, Horizon 2020, AERO-TRAIN, No. 953454
Note

CC-BY-NC-ND License

Available from: 2023-10-31 Created: 2023-10-31 Last updated: 2023-11-01
Mukherjee, M., Banerjee, A., Satpute, S. G. & Nikolakopoulos, G. (2023). Fault Resilient Decentralized Multi-sensorial Fusion Based Pose Estimation for Autonomous Navigation Around Asteroid. International Journal of Control, Automation and Systems, 21(6), 2031-2042
Open this publication in new window or tab >>Fault Resilient Decentralized Multi-sensorial Fusion Based Pose Estimation for Autonomous Navigation Around Asteroid
2023 (English)In: International Journal of Control, Automation and Systems, ISSN 1598-6446, E-ISSN 2005-4092, Vol. 21, no 6, p. 2031-2042Article in journal (Refereed) Published
Abstract [en]

A decentralized multi-sensor fusion-based resilient pose estimation architecture for autonomous navigation of satellites around an asteroid is presented in this article. Navigation around an asteroid is challenging due to dynamic illumination conditions, which restricts the vision-based localization and is partially ineffective for a longer duration of the operation. Moreover, drift in sensor measurement and temporal sensor failure is often encountered in long-duration sustainable space missions. This is more so around a debris-prone region, where momentary obstruction leads to inaccurate sensor measurement for a temporary period of operation. In order to establish a resilient localization mechanism for satellites around an asteroid, the proposed framework embeds a unique automatic fault detection and isolation approach in a decentralized fusion formalism. Furthermore, a unified framework can operate autonomously during temporary and long-range inoperative periods. In the first stage, innovative fault detection is proposed, which operates based on the residual of a judiciously designed filter assembly. Secondly, a novel fault-resilient isolation fusion called the fault-resilient optimal information filter fusion (FR-OIF) technique is presented, enabling self-resiliency by embedding an inbuilt fault isolation mechanism. The proposed resilient asteroid navigation approach is demonstrated with a simulation study considering a satellite equipped with multiple onboard sensors such as an inertial measurement unit, star tracker, camera and 3D-Lidar in the proximity of the asteroid Ryugu. At the same time, its superiority is also demonstrated through a comparison with the centralized multi-sensorial fusion approach.

Place, publisher, year, edition, pages
Springer Nature, 2023
Keywords
Asteroid navigation, decentralize fusion, fault resilient decentralized fusion, filter bank, maximum likelihood function, multi-sensor fusion
National Category
Control Engineering
Research subject
Robotics and Artificial Intelligence
Identifiers
urn:nbn:se:ltu:diva-99119 (URN)10.1007/s12555-022-0528-3 (DOI)001010828700026 ()2-s2.0-85162254538 (Scopus ID)
Funder
EU, Horizon 2020, 101003591 NEX-GEN SIMS
Note

Validerad;2023;Nivå 2;2023-07-03 (hanlid)

Available from: 2023-07-03 Created: 2023-07-03 Last updated: 2024-02-22Bibliographically approved
Kottayam Viswanathan, V., Satpute, S. G. & Nikolakopoulos, G. (2023). FLIE: First-Look Enabled Inspect-Explore Autonomy Toward Visual Inspection of Unknown Distributed and Discontinuous Structures. IEEE Access, 11, 28140-28150
Open this publication in new window or tab >>FLIE: First-Look Enabled Inspect-Explore Autonomy Toward Visual Inspection of Unknown Distributed and Discontinuous Structures
2023 (English)In: IEEE Access, E-ISSN 2169-3536, Vol. 11, p. 28140-28150Article in journal (Refereed) Published
Abstract [en]

In this article, the problem of an online autonomous aerial inspection, specifically for discontinuous and distributed objects is presented. The proposed approach imposes view culling and photogrammetric constraints based on a geometrically modeled three-dimensional view pyramid, a view cone to filter surfaces by desired observation angle, a framework-integrated passive collision-avoidance scheme with the object under inspection, and a dynamically enveloping bounding-box region to map the visited surfaces. Furthermore, the proposed inspect-explore framework is validated for the case of an unknown environment with no prior knowledge of the object model under inspection. The overall inspection scheme is based on the novel First-Look approach, enabling the UAV to progressively adapt its inspection path to match the profile of the structure autonomously. The implemented exploration strategy imposes a tiered policy enabling the UAV to search, identify and navigate towards the structure for inspection. The presented work utilizes a unified architecture of the aforementioned inspect-explore framework to improve situational awareness in a previously unknown environment by enabling the UAV to explore its surrounding space and identify structures to execute closer inspection tasks. Extended simulations to evaluate the efficacy of the proposed inspect-explore framework are presented with multiple structure scenarios.

Place, publisher, year, edition, pages
IEEE, 2023
National Category
Robotics
Research subject
Robotics and Artificial Intelligence
Identifiers
urn:nbn:se:ltu:diva-96476 (URN)10.1109/access.2023.3257646 (DOI)2-s2.0-85151395274 (Scopus ID)
Funder
EU, Horizon 2020, 869379
Note

Validerad;2023;Nivå 2;2023-04-13 (joosat);

Licens fulltext: CC BY License

Available from: 2023-04-13 Created: 2023-04-13 Last updated: 2023-09-11Bibliographically approved
Lindqvist, B., Kottayam Viswanathan, V., Karlsson, S. & Satpute, S. G. (2023). Navigation for ARWs. In: George Nikolakopoulos, Sina Sharif Mansouri, Christoforos Kanellakis (Ed.), Aerial Robotic Workers: Design, Modeling, Control, Vision, and Their Applications: (pp. 79-108). Elsevier
Open this publication in new window or tab >>Navigation for ARWs
2023 (English)In: Aerial Robotic Workers: Design, Modeling, Control, Vision, and Their Applications / [ed] George Nikolakopoulos, Sina Sharif Mansouri, Christoforos Kanellakis, Elsevier, 2023, p. 79-108Chapter in book (Other academic)
Abstract [en]

This chapter presents an overview of various navigation schemes used for ARWs and their application areas. Navigation schemes, in general, answer the question of how to move from the current position to the desired and optimally plan the path between them, which is a necessary step for almost all applications for autonomous flight. This chapter will go over reactive navigation schemes, such as the potential fields and Model Predictive Control with integrated obstacle avoidance, as well as global path-planning methods, such as map-based iterative planners like D, and planning for complete coverage of infrastructure to perform a visual inspection.

Place, publisher, year, edition, pages
Elsevier, 2023
Keywords
Path planning, Reactive obstacle avoidance, Coverage planning, Heading regulation
National Category
Robotics Control Engineering
Research subject
Robotics and Artificial Intelligence
Identifiers
urn:nbn:se:ltu:diva-97386 (URN)10.1016/B978-0-12-814909-6.00012-3 (DOI)2-s2.0-85150131886 (Scopus ID)978-0-12-814909-6 (ISBN)
Available from: 2023-05-24 Created: 2023-05-24 Last updated: 2023-05-24Bibliographically approved
Sankaranarayanan, V. N., Damigos, G., Seisa, A. S., Satpute, S. G., Lindgren, T. & Nikolakopoulos, G. (2023). PACED-5G: Predictive Autonomous Control using Edge for Drones over 5G. In: 2023 International Conference on Unmanned Aircraft Systems (ICUAS): . Paper presented at 2023 International Conference on Unmanned Aircraft Systems (ICUAS), June 6-9, 2023, Warsaw, Poland (pp. 1155-1161). IEEE
Open this publication in new window or tab >>PACED-5G: Predictive Autonomous Control using Edge for Drones over 5G
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2023 (English)In: 2023 International Conference on Unmanned Aircraft Systems (ICUAS), IEEE, 2023, p. 1155-1161Conference paper, Published paper (Refereed)
Abstract [en]

With the advent of technologies such as Edge computing, the horizons of remote computational applications have broadened multi-dimensionally. Autonomous Unmanned Aerial Vehicle (UAV) mission is a vital application to utilize remote computation to catalyze its performance. However, offloading computational complexity to a remote system increases the latency in the system. Though technologies such as 5G networking minimize communication latency, the effects of latency on the control of UAVs are inevitable and may destabilize the system. Hence, it is essential to consider the delays in the system and compensate for them in the control design. Therefore, we propose a novel Edge-based predictive control architecture enabled by 5G networking, PACED-5G (Predictive Autonomous Control using Edge for Drones over 5G). In the proposed control architecture, we have designed a state estimator for estimating the current states based on the available knowledge of the time-varying delays, devised a Model Predictive controller (MPC) for the UAV to track the reference trajectory while avoiding obstacles, and provided an interface to offload the high-level tasks over Edge systems. The proposed architecture is validated in two experimental test cases using a quadrotor UAV.

Place, publisher, year, edition, pages
IEEE, 2023
Series
International Conference on Unmanned Aircraft Systems, ISSN 2373-6720, E-ISSN 2575-7296
National Category
Communication Systems Computer Vision and Robotics (Autonomous Systems)
Research subject
Robotics and Artificial Intelligence
Identifiers
urn:nbn:se:ltu:diva-99487 (URN)10.1109/ICUAS57906.2023.10156241 (DOI)2-s2.0-85165619191 (Scopus ID)979-8-3503-1038-2 (ISBN)979-8-3503-1037-5 (ISBN)
Conference
2023 International Conference on Unmanned Aircraft Systems (ICUAS), June 6-9, 2023, Warsaw, Poland
Funder
EU, Horizon 2020, 953454
Available from: 2023-08-10 Created: 2023-08-10 Last updated: 2023-09-20Bibliographically approved
Banerjee, A., Mukherjee, M., Satpute, S. G. & Nikolakopoulos, G. (2023). Resiliency in Space Autonomy: a Review. Current Robotics Reports, 4, 1-12
Open this publication in new window or tab >>Resiliency in Space Autonomy: a Review
2023 (English)In: Current Robotics Reports, E-ISSN 2662-4087, Vol. 4, p. 1-12Article, review/survey (Refereed) Published
Abstract [en]

Purpose of Review: The article provides an extensive overview on the resilient autonomy advances made across various missions, orbital or deep-space, that captures the current research approaches while investigating the possible future direction of resiliency in space autonomy.

Recent Findings: In recent years, the need for several automated operations in space applications has been rising, that ranges from the following: spacecraft proximity operations, navigation and some station keeping applications, entry, decent and landing, planetary surface exploration, etc. Also, with the rise of miniaturization concepts in spacecraft, advanced missions with multiple spacecraft platforms introduce more complex behaviours and interactions within the agents, which drives the need for higher levels of autonomy and accommodating collaborative behaviour coupled with robustness to counter unforeseen uncertainties. This collective behaviour is now referred to as resiliency in autonomy. As space missions are getting more and more complex, for example applications where a platform physically interacts with non-cooperative space objects (debris) or planetary bodies coupled with hostile, unpredictable, and extreme environments, there is a rising need for resilient autonomy solutions.

Summary: Resilience with its key attributes of robustness, redundancy and resourcefulness will lead toward new and enhanced mission paradigms of space missions.

Place, publisher, year, edition, pages
Springer, 2023
Keywords
Space robotics, Robot manipulators, Sub-T exploration, Distributed spacecraft, Resiliency, Autonomy
National Category
Computer Vision and Robotics (Autonomous Systems)
Research subject
Robotics and Artificial Intelligence
Identifiers
urn:nbn:se:ltu:diva-96173 (URN)10.1007/s43154-023-00097-w (DOI)
Note

Validerad;2023;Nivå 1;2023-07-20 (sofila);

Licens fulltext: CC BY License

Available from: 2023-03-17 Created: 2023-03-17 Last updated: 2024-02-22Bibliographically approved
Kottayam Viswanathan, V., Lindqvist, B., Satpute, S. G., Kanellakis, C. & Nikolakopoulos, G. (2023). Towards Visual Inspection of Distributed and Irregular Structures: A Unified Autonomy Approach. Journal of Intelligent and Robotic Systems, 109(2), Article ID 32.
Open this publication in new window or tab >>Towards Visual Inspection of Distributed and Irregular Structures: A Unified Autonomy Approach
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2023 (English)In: Journal of Intelligent and Robotic Systems, ISSN 0921-0296, E-ISSN 1573-0409, Vol. 109, no 2, article id 32Article in journal (Refereed) Published
Abstract [en]

This paper highlights the significance of maintaining and enhancing situational awareness in Urban Search and Rescue (USAR) missions. It focuses specifically on investigating the capabilities of Unmanned Aerial Vehicles (UAV) equipped with limited sensing capabilities and onboard computational resources to perform visual inspections of apriori unknown fractured and collapsed structures in unfamiliar environments. The proposed approach, referred to as First Look Inspect-Explore (FLIE), employs a flexible bifurcated behavior tree that leverages real-time RGB image and depth cloud data. By employing a recursive and reactive synthesis of safe view pose within the inspection module, FLIE incorporates a novel active visual guidance scheme for identifying previously inspected surfaces. Furthermore, the integration of a tiered hierarchical exploration module with the visual guidance system enables the UAV to navigate towards new and unexplored structures without relying on a map. This decoupling reduces memory overhead and computational effort by eliminating the need to plan based on an incrementally built, error-prone global map. The proposed autonomy is extensively evaluated through simulation and experimental verification under various scenarios and compared against state-of-art approaches, demonstrating its performance and effectiveness.

Place, publisher, year, edition, pages
Springer Nature, 2023
Keywords
Unmanned Aerial Vehicles (UAVs), Inspect-explore, Urban search and rescue robotics, Aerial autonomy
National Category
Robotics Computer Sciences
Research subject
Robotics and Artificial Intelligence
Identifiers
urn:nbn:se:ltu:diva-101299 (URN)10.1007/s10846-023-01961-9 (DOI)2-s2.0-85172190862 (Scopus ID)
Funder
EU, Horizon 2020, 101003591 NEXGEN SIMS
Note

Validerad;2023;Nivå 2;2023-09-28 (hanlid)

Available from: 2023-09-11 Created: 2023-09-11 Last updated: 2023-10-11Bibliographically approved
Seisa, A. S., Satpute, S. G. & Nikolakopoulos, G. (2022). A Kubernetes-Based Edge Architecture for Controlling the Trajectory of a Resource-Constrained Aerial Robot by Enabling Model Predictive Control. In: Proceedings - 26th International Conference on Circuits, Systems, Communications and Computers, CSCC 2022: . Paper presented at 26th International Conference on Circuits, Systems, Communications and Computers (CSCC 2022), July 19-22, 2022, Crete, Greece (pp. 290-295). Institute of Electrical and Electronics Engineers Inc.
Open this publication in new window or tab >>A Kubernetes-Based Edge Architecture for Controlling the Trajectory of a Resource-Constrained Aerial Robot by Enabling Model Predictive Control
2022 (English)In: Proceedings - 26th International Conference on Circuits, Systems, Communications and Computers, CSCC 2022, Institute of Electrical and Electronics Engineers Inc. , 2022, p. 290-295Conference paper, Published paper (Refereed)
Abstract [en]

In recent years, cloud and edge architectures have gained tremendous focus for offloading computationally heavy applications. From machine learning and Internet of Thing (IOT) to industrial procedures and robotics, cloud computing have been used extensively for data processing and storage purposes, thanks to its 'infinite' resources. On the other hand, cloud computing is characterized by long time delays due to the long distance between the cloud servers and the machine requesting the resources. In contrast, edge computing provides almost real-time services since edge servers are located significantly closer to the source of data. This capability sets edge computing as an ideal option for real-time applications, like high level control, for resource-constrained platforms. In order to utilized the edge resources, several technologies, with basic ones as containers and orchestrators like kubernetes, have been developed to provide an environment with many different features, based on each application's requirements. In this context, this works presents the implementation and evaluation of a novel edge architecture based on kubernetes orchestration for controlling the trajectory of a resource-constrained Unmanned Aerial Vehicle (UAV) by enabling Model Predictive Control (MPC).

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers Inc., 2022
Keywords
Edge Computing, Kubernetes, MPC, Robotics, UAV
National Category
Computer Sciences Control Engineering Robotics
Research subject
Robotics and Artificial Intelligence
Identifiers
urn:nbn:se:ltu:diva-95672 (URN)10.1109/CSCC55931.2022.00056 (DOI)2-s2.0-85147732087 (Scopus ID)978-1-6654-8186-1 (ISBN)
Conference
26th International Conference on Circuits, Systems, Communications and Computers (CSCC 2022), July 19-22, 2022, Crete, Greece
Funder
EU, Horizon 2020, 953454
Available from: 2023-02-21 Created: 2023-02-21 Last updated: 2023-09-20Bibliographically approved
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ORCID iD: ORCID iD iconorcid.org/0000-0003-1437-1809

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