TR2023-024

Covariance Steering for Uncertain Contact-Rich Systems


    •  Shirai, Y., Jha, D.K., Raghunathan, A., "Covariance Steering for Uncertain Contact-Rich Systems", IEEE International Conference on Robotics and Automation (ICRA), May 2023.
      BibTeX TR2023-024 PDF
      • @inproceedings{Shirai2023may3,
      • author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind},
      • title = {Covariance Steering for Uncertain Contact-Rich Systems},
      • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
      • year = 2023,
      • month = may,
      • url = {https://www.merl.com/publications/TR2023-024}
      • }
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  • Research Area:

    Robotics

Abstract:

Planning and control for uncertain contact sys- tems is challenging as it is not clear how to propagate uncertainty for planning. Contact-rich tasks can be modeled efficiently using complementarity constraints among other tech- niques. In this paper, we present a stochastic optimization technique with chance constraints for systems with stochastic complementarity constraints. We use a particle filter-based approach to propagate moments for stochastic complementarity system. To circumvent the issues of open-loop chance con- strained planning, we propose a contact-aware controller for covariance steering of the complementarity system. Our opti- mization problem is formulated as Non-Linear Programming (NLP) using bilevel optimization. We present an important- particle algorithm for numerical efficiency for the underlying control problem. We verify that our contact-aware closed-loop controller is able to steer the covariance of the states under stochastic contact-rich tasks.

 

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  • Related Publication

  •  Shirai, Y., Jha, D.K., Raghunathan, A., "Covariance Steering for Uncertain Contact-rich Systems", arXiv, March 2023.
    BibTeX arXiv
    • @article{Shirai2023mar2,
    • author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind},
    • title = {Covariance Steering for Uncertain Contact-rich Systems},
    • journal = {arXiv},
    • year = 2023,
    • month = mar,
    • url = {https://arxiv.org/abs/2303.13382}
    • }