2017/05/03 by Alexandros Nikou, Christos K. Verginis, Nikou, Alexandros +5 · 1 citation
Computer Science · Engineering · #Advanced Control Systems Optimization #Distributed Control Multi-Agent Systems #FOS: Computer and information sciences #FOS: Electrical engineering #Robotic Path Planning Algorithms #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.1705.01426
openalex publication_date 2017/05/03 · openalex created_date 2022/10/03 · openalex updated_date 2026/07/28
This paper addresses the problem of cooperative transportation of an object\nrigidly grasped by N robotic agents. In particular, we propose a Nonlinear\nModel Predictive Control (NMPC) scheme that guarantees the navigation of the\nobject to a desired pose in a bounded workspace with obstacles, while complying\nwith certain input saturations of the agents. Moreover, the proposed\nmethodology ensures that the agents do not collide with each other or with the\nworkspace obstacles as well as that they do not pass through singular\nconfigurations. The feasibility and convergence analysis of the NMPC are\nexplicitly provided. Finally, simulation results illustrate the validity and\nefficiency of the proposed method.\n