Decentralized Cooperative Manipulation with a Swarm of Mobile Robots

Abstract

In this paper we consider cooperative manipulation problems where a large group (swarm) of non-articulated mobile robots is trying to cooperatively control the velocity of some larger rigid body by exerting forces around its perimeter. We consider a second-order dynamic model for the object but use a simplified contact model. We seek solutions that require minimal information sharing among the swarm members. We present a velocity control law that is asymptotically stable. In the case of a constant desired velocity, it is shown that no coordination is required between the swarm members. For more complex trajectories we introduce a decentralized feed-forward component that uses an online consensus estimate of the swarm's configuration. The results are illustrated in simulation.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2009
Accession Number
ADA535054

Entities

People

  • Joel M. Esposito

Tags

Communities of Interest

  • Autonomy
  • Ground and Sea Platforms

DTIC Thesaurus Topics

  • Communication Networks
  • Control
  • Convergence
  • Drag
  • Dynamics
  • Engineering
  • Friction
  • Information Exchange
  • Lyapunov Functions
  • Mass
  • Models
  • Networks
  • Offshore Structures
  • Simulations
  • Systems Engineering
  • Test Beds
  • United States Naval Academy

Fields of Study

  • Mathematics

Readers

  • Finite Element Method (FEM) for solving Partial Differential Equations (PDEs)
  • Robotics and Automation.
  • Team-Based Human-Centered Cognitive Task Decision Making and Information Performance.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • AI & ML - Machine Learning Algorithms
  • Autonomy
  • Autonomy - Autonomous System Control