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Robust Decentralized Abstractions for Multiple Mobile Manipulators
KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-7309-8086
2017 (English)In: 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017, Institute of Electrical and Electronics Engineers (IEEE), 2017Conference paper, Published paper (Refereed)
Abstract [en]

This paper addresses the problem of decentralized abstractions for multiple mobile manipulators with 2nd order dynamics. In particular, we propose decentralized controllers for the navigation of each agent among predefined regions of interest in the workspace, while guaranteeing at the same time inter-agent collision avoidance and connectivity maintenance for a subset of initially connected agents. In that way, the motion of the coupled multi-agent system is abstracted into multiple finite transition systems for each agent, which are then suitable for the application of temporal logic-based high level plans. The proposed methodology is decentralized, since each agent uses local information based on limited sensing capabilities. Finally, simulation studies verify the validity of the approach.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2017.
Series
IEEE Conference on Decision and Control, ISSN 0743-1546
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-223873DOI: 10.1109/CDC.2017.8263974ISI: 000424696902026Scopus ID: 2-s2.0-85046282691ISBN: 978-1-5090-2873-3 OAI: oai:DiVA.org:kth-223873DiVA, id: diva2:1187623
Conference
IEEE 56th Annual Conference on Decision and Control (CDC), DEC 12-15, 2017, Melbourne, Australia
Funder
Knut and Alice Wallenberg FoundationSwedish Research CouncilEU, Horizon 2020
Note

QC 20180305

Available from: 2018-03-05 Created: 2018-03-05 Last updated: 2018-06-04Bibliographically approved

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Dimarogonas, Dimos V.

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Verginis, Christos K.Dimarogonas, Dimos V.
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