A framework for set-based kinematic control of multi-robot systems. (January 2021)

• Record Type: Journal Article
• Authors: Di Lillo, Paolo; Pierri, Francesco; Antonelli, Gianluca; Caccavale, Fabrizio; Ollero, Anibal
• Is Part Of: Control engineering practice. Volume 106(2021)
• Publication Date: 2021-01
• Subjects: Multi-robot systems -- Multi-arm systems -- Set-based kinematic control; Automatic control -- Periodicals; 629.89
• DOI: 10.1016/j.conengprac.2020.104669
• Languages: English
• ISSNs: 0967-0661

Abstract

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. Highlights: A control framework for coordinated motion of a multi-robot system is developed. The mission is defined via a set of elementary tasks arranged in priority order. The elementary tasks are classified in terms of their cooperative nature. The developed control framework is tested on two different multi-robot systems.