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2009
IEEE

Decentralized cooperative manipulation with a swarm of mobile robots

9 years 1 days ago
Decentralized cooperative manipulation with a swarm of mobile robots
— 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.
Joel M. Esposito
Added 24 May 2010
Updated 24 May 2010
Type Conference
Year 2009
Where IROS
Authors Joel M. Esposito
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