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Timed abstractions for distributed cooperative manipulation
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.ORCID iD: 0000-0001-7309-8086
2018 (English)In: Autonomous Robots, ISSN 0929-5593, E-ISSN 1573-7527, Vol. 42, no 4, p. 781-799Article in journal (Refereed) Published
Abstract [en]

This paper addresses the problem of deriving well-defined timed abstractions for the decentralized cooperative manipulation of a single object by N robotic agents. In particular, we propose a distributed model-free control protocol for the trajectory tracking of the cooperatively manipulated object without necessitating feedback of the contact forces/torques or inter-agent communication. Certain prespecified performance functions determine the transient and steady state of the coupled object-agents system. The latter, along with a region partition of the workspace that depends on the physical volume of the object and the agents, allows us to define timed transitions for the coupled system among the derived workspace regions. Therefore, we abstract its motion as a finite transition system and, by employing standard automata-based methodologies, we define high level complex tasks for the object that can be encoded by timed temporal logics. In addition, we use load sharing coefficients to represent potential differences in power capabilities among the agents. Finally, realistic simulation studies verify the validity of the proposed scheme.

Place, publisher, year, edition, pages
Springer, 2018. Vol. 42, no 4, p. 781-799
Keyword [en]
Timed abstractions, Cooperative manipulation, Formal verification, Robotics, Multi-agent systems, Robust control
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-225178DOI: 10.1007/s10514-017-9672-7ISI: 000427378300006Scopus ID: 2-s2.0-85034241778OAI: oai:DiVA.org:kth-225178DiVA, id: diva2:1195071
Funder
Knut and Alice Wallenberg FoundationSwedish Research CouncilEU, Horizon 2020, 644128
Note

QC 20180404

Available from: 2018-04-04 Created: 2018-04-04 Last updated: 2018-04-04Bibliographically approved

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Dimarogonas, Dimos V.

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