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Distributed Cooperative Manipulation under Timed Temporal Specifications
KTH, School of Electrical Engineering (EES), Automatic Control. 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: 0000-0002-4289-2866
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
2017 (English)In: American Control Conference (ACC), 2017, IEEE, 2017, p. 1358-1363, article id 7963141Conference paper, Published paper (Refereed)
Abstract [en]

This paper addresses the problem of cooperative manipulation of a single object by N robotic agents under local goal specifications given as Metric Interval Temporal Logic (MITL) formulas. 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. This allows us to abstract the motion of the coupled object-agents system as a finite transition system and, by employing standard automata-based methodologies, we derive a hybrid control algorithm for the satisfaction of a given MITL formula. In addition, we use load sharing coefficients to represent potential differences in power capabilities among the agents. Finally, simulation studies verify the validity of the proposed scheme.

Place, publisher, year, edition, pages
IEEE, 2017. p. 1358-1363, article id 7963141
Series
American Control Conference (ACC), ISSN 2378-5861
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-215983DOI: 10.23919/ACC.2017.7963141ISI: 000427033301066ISBN: 978-1-5090-5992-8 (electronic)OAI: oai:DiVA.org:kth-215983DiVA, id: diva2:1150523
Conference
2017 American Control Conference, ACC 2017, Sheraton Seattle Hotel, Seattle, United States, 24 May 2017 through 26 May 2017
Funder
Knut and Alice Wallenberg FoundationSwedish Research Council
Note

QC 20170811

Available from: 2017-10-19 Created: 2017-10-19 Last updated: 2018-04-10

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