Publication Date
2002
Abstract
This paper presents techniques for exploiting redundancy in teams of mobile robots. In particular, we address tasks involving the kinematic coordination of several commu- nicating robots. Teams are modeled as highly redundant spatial mechanisms for which multi-objective, concurrent controllers are constructed using a generalization of null- space control. The goal is to develop a methodology in which the robustness and error suppression in a control theoretic substrate can be used to preserve critical prop- erties in teams of reactive robots. The resulting “safe” control options can then be explored while guarantee- ing global compliance with system specifications. The proposed architecture depends on a set of concurrent, low-dimensional control processes that interact in a well- defined manner. Cascaded null space projections and co- ordination templates are used to manage control interac- tions across platforms that actively maintain constraints for pairs of robots. Pairwise policies can then be com- bined to represent coordinated, multi-robot tasks. To il- lustrate the approach, we demonstrate a distributed con- trol that maintains critical connectivity in line-of-sight communication networks.
Recommended Citation
Sweeney, J., "Coordinated Teams of Reactive Mobile Platforms" (2002). Computer Science Department Faculty Publication Series. 113.
Retrieved from https://scholarworks.umass.edu/cs_faculty_pubs/113
Comments
This paper was harvested from CiteSeer