DocumentCode
2241920
Title
Abstraction and control for groups of fully-actuated planar robots
Author
Belta, Calin ; Kumar, Vijay
Author_Institution
GRASP Lab., Pennsylvania Univ., USA
Volume
2
fYear
2003
fDate
14-19 Sept. 2003
Firstpage
2498
Abstract
This paper shows how a large number of robots can be coordinated by designing control laws on a small dimensional manifold, independent on the number and ordering of the robots. The small dimensional description of the team has a product structure of a Lie group, which captures the dependence of the ensemble on world frame, and a shape manifold, which is an intrinsic description of the team. We design decoupled controls for group and shape. The individual control laws which are mapped to the desired collective behavior can be realized by feedback depending only on the current state of the robot and the state on the small dimensional manifold, so that the robots have to broadcast their states and only have to listen to some coordinating agent with small bandwidth.
Keywords
Lie groups; cooperative systems; feedback; multi-robot systems; robot kinematics; shape control; Lie groups; control law design; coordinating agent; decoupled controls design; feedback; fully actuated planar robots; shape manifold; small dimensional manifold; Asymptotic stability; Bandwidth; Control systems; Convergence; Motion control; Orbital robotics; Orbits; Robot kinematics; Shape control; State feedback;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-7736-2
Type
conf
DOI
10.1109/ROBOT.2003.1241968
Filename
1241968
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