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Abstract: Formation control gains significant attention in the multi-robot system field as it contributes to a vast range of applications, such as transportation. This letter prese... View more
Formation control gains significant attention in the multi-robot system field as it contributes to a vast range of applications, such as transportation. This letter presents a constrained optimization-based control law for cooperative logistics mission, which consists of rigid shape formation control, group navigation, individual and team obstacle avoidance tasks. These tasks are defined as equality and inequality constraints with different levels of priority. Hierarchical quadratic programming (HQP) approach is used to solve for the optimal solution with an inclusion of velocity limits as inequality constraints to ensure implementation feasibility. Experiment using actual industrial robots is demonstrated in order to validate the theory.
Published in: IEEE Robotics and Automation Letters ( Volume: 6 , Issue: 4 , October 2021 )
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For decades, researchers have been pushing the boundary of multi-robot system (MRS) applications, taking advantage of its improved robustness and efficiency compared to single-robot systems [1]. Logistics is one of the emerging applications of MRS. In fact, logistics sectors can benefit from MRS's flexibility and reliability to extend the load-carrying capacity. For transportation tasks, various load handling and control strategies have been proposed. Some load handling methods include [2]: pushing-only, caging, and grasping. For the pushing-only and caging strategy, in which there is no physical joint between robots and the object, the robots need to either push [3] or entrap [4] the object to move it. In [5], an occlusion-based approach was proposed, in which robots push the object along their line-of-sight to the goal that is occluded by the object. On the other hand, the authors of [6] used the grasping strategy in the form of a gripper to hold the transporting object with leader/follower control. Similarly, a leader/helper approach is presented in [7]. The load is placed on top of two mobile robots, and the system's dynamic is analyzed based on a theoretical framework called attractor dynamics approach to behavior generation.
2021 40th Chinese Control Conference (CCC)
2021 IEEE International Conference on Networking, Sensing and Control (ICNSC)
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Formation control gains significant attention in the multi-robot system field as it contributes to a vast range of applications, such as transportation. This letter presents a constrained optimization-based control law for cooperative logistics mission, which consists of rigid shape formation control, group navigation, individual and team obstacle avoidance tasks. These tasks are defined as ...
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Formation control gains significant attention in the multi-robot system field as it contributes to a vast range of applications, such as transportation. This letter presents a constrained optimization-based control law for cooperative logistics mission, which consists of rigid shape formation control, group navigation, individual and team obstacle avoidance tasks. These tasks are defined as ...
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