Simultaneous shape control and transport with multiple robots

被引:12
|
作者
Lopez-Nicolas, Gonzalo [1 ]
Herguedas, Rafael [1 ]
Aranda, Miguel [2 ]
Mezouar, Youcef [2 ]
机构
[1] Univ Zaragoza, Inst Invest Ingn Aragon, Zaragoza, Spain
[2] Univ Clermont Auvergne, CNRS, SIGMA Clermont, Inst Pascal, F-63000 Clermont Ferrand, France
来源
2020 FOURTH IEEE INTERNATIONAL CONFERENCE ON ROBOTIC COMPUTING (IRC 2020) | 2020年
关键词
DEFORMABLE OBJECTS; MANIPULATION; CONSENSUS;
D O I
10.1109/IRC.2020.00042
中图分类号
TP3 [计算技术、计算机技术];
学科分类号
0812 ;
摘要
Autonomous transport of objects may require multiple robots when the object is large or heavy. Besides, in the case of deformable objects, a set of robots may also be needed to maintain or adapt the shape of the object to the task requirements. The task we address consists in transporting an object, represented as a two dimensional shape or contour, along a desired path. Simultaneously, the team of robots grasping the object are controlled to the desired contour points configuration. Since the mobile robots of the team obey nonholonomic motion constraints, admissible trajectories are designed to keep the integrity of the object while following the prescribed path. Additionally, the simultaneous control of the object's shape is smoothly performed to respect the admissible deformation of the object. The main contribution lies in the definition of the grasping robots' trajectories dealing with the involved constraints. Different simulations, where the deformable object dynamics are modelled with consensus-based techniques, illustrate the performance of the approach.
引用
收藏
页码:218 / 225
页数:8
相关论文
共 50 条
  • [21] Formation Control of Multiple Groups of Robots
    Sarkar, Soumic
    Kar, Indra Narayan
    2013 IEEE 52ND ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC), 2013, : 1466 - 1471
  • [22] Control and random searching with multiple robots
    Healey, AJ
    Kim, J
    PROCEEDINGS OF THE 39TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-5, 2000, : 340 - 345
  • [23] CONTROL AND COMMUNICATIONS FOR MULTIPLE, COOPERATING ROBOTS
    MAY, FB
    KAYE, AR
    MAHMOUD, SA
    ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING, 1989, 6 (01) : 37 - 53
  • [24] Assistive control of brain-control multiple robots
    Chi, Weiming
    Liu, Ying
    Yang, Zhenge
    Bi, Luzheng
    Journal of Physics: Conference Series, 2021, 2003 (01)
  • [25] Region-based shape control for a swarm of robots
    Cheah, Chien Chern
    Hou, Saing Paul
    Slotine, Jean Jacques E.
    AUTOMATICA, 2009, 45 (10) : 2406 - 2411
  • [26] The Inverse Kinematics of Cooperative Transport With Multiple Aerial Robots
    Jiang, Qimi
    Kumar, Vijay
    IEEE TRANSACTIONS ON ROBOTICS, 2013, 29 (01) : 136 - 145
  • [27] Laser based simultaneous mutual localisation for multiple mobile robots
    Ryde, Julian
    Hu, osheng Hu
    2005 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATIONS, VOLS 1-4, CONFERENCE PROCEEDINGS, 2005, : 404 - 409
  • [28] Simultaneous versus incremental learning of multiple skills by modular robots
    Rossi, C.
    Eiben, A. E.
    EVOLUTIONARY INTELLIGENCE, 2014, 7 (02) : 119 - 131
  • [29] Shape control of elemental distributions inside a glass by simultaneous femtosecond laser irradiation at multiple spots
    Sakakura, Masaaki
    Kurita, Torataro
    Shimizu, Masahiro
    Yoshimura, Kouhei
    Shimotsuma, Yasuhiko
    Fukuda, Naoaki
    Hirao, Kazuyuki
    Miura, Kiyotaka
    OPTICS LETTERS, 2013, 38 (23) : 4939 - 4942
  • [30] DYNAMIC CONTROL OF MULTIPLE COORDINATED REDUNDANT ROBOTS
    HU, YR
    GOLDENBERG, AA
    IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS, 1992, 22 (03): : 568 - 574