Decentralized object transportation by two nonholonomic mobile robots exploiting only implicit communication

Anastasios Tsiamis, Charalampos P. Bechlioulis, George C. Karras, Kostas J. Kyriakopoulos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper addresses the problem of cooperative object transportation by two nonholonomic wheeled robots, with the coordination relying exclusively on implicit communication. We implement a leader-follower scheme, considering compliant contact between the object and the follower. Only the leader has knowledge of the object's goal configuration. The follower employs force/torque measurements to keep the contact stable and align itself with the object. The control scheme of the follower is based on the prescribed performance methodology guaranteeing thus the satisfaction of certain predefined force/torque constraints. In this way, the overall system acts as a perturbed version of the nominal car-like model. As a result, the leader implements a discontinuous control scheme, that drives robustly the system arbitrarily close to the goal configuration. No explicit data is exchanged among the robots, thus reducing bandwidth and increasing robustness and stealthiness. Finally, the proposed method is experimentally validated using two Pioneer mobile robots interconnected with a rod.

Original languageEnglish (US)
Title of host publication2015 IEEE International Conference on Robotics and Automation, ICRA 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages171-176
Number of pages6
EditionJune
ISBN (Electronic)9781479969234
DOIs
StatePublished - Jun 29 2015
Event2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States
Duration: May 26 2015May 30 2015

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
NumberJune
Volume2015-June
ISSN (Print)1050-4729

Other

Other2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Country/TerritoryUnited States
CitySeattle
Period5/26/155/30/15

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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