• 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