TY - GEN
T1 - Decentralized object transportation by two nonholonomic mobile robots exploiting only implicit communication
AU - Tsiamis, Anastasios
AU - Bechlioulis, Charalampos P.
AU - Karras, George C.
AU - Kyriakopoulos, Kostas J.
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/6/29
Y1 - 2015/6/29
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84938255605&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84938255605&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2015.7138996
DO - 10.1109/ICRA.2015.7138996
M3 - Conference contribution
AN - SCOPUS:84938255605
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 171
EP - 176
BT - 2015 IEEE International Conference on Robotics and Automation, ICRA 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Y2 - 26 May 2015 through 30 May 2015
ER -