In this paper, a novel control framework for coordinated motion for kinematically redundant multi-robot systems is developed. The framework embeds both tasks expressed as equality constraints and set-based tasks, i.e., tasks expressed via inequality constraints, in a task-priority kinematic control scheme. The effectiveness of the approach is experimentally demonstrated on two different multi-arm systems. The first system, aimed at operating in household tasks, is composed by two arms mounted on a mobile holonomic base, the second system is mounted on an aerial vehicle and is conceived to perform inspection and maintenance tasks.
A framework for set-based kinematic control of multi-robot systems
Pierri F.;Caccavale F.;
2021-01-01
Abstract
In this paper, a novel control framework for coordinated motion for kinematically redundant multi-robot systems is developed. The framework embeds both tasks expressed as equality constraints and set-based tasks, i.e., tasks expressed via inequality constraints, in a task-priority kinematic control scheme. The effectiveness of the approach is experimentally demonstrated on two different multi-arm systems. The first system, aimed at operating in household tasks, is composed by two arms mounted on a mobile holonomic base, the second system is mounted on an aerial vehicle and is conceived to perform inspection and maintenance tasks.File in questo prodotto:
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