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A Study on Force-based Collaboration in Swarms

Authors :
Chiara Gabellieri
Antonio Franchi
Marco Tognon
Dario Sanalitro
Lucia Pallottino
Université de Pise
Équipe Robotique et InteractionS (LAAS-RIS)
Laboratoire d'analyse et d'architecture des systèmes (LAAS)
Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1)
Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3)
Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse)
Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP)
Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1)
Université Fédérale Toulouse Midi-Pyrénées
University of Pisa - Università di Pisa
Université Toulouse Capitole (UT Capitole)
Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse)
Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J)
Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3)
Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP)
Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole)
Université de Toulouse (UT)
ANR-17-CE33-0007,MUROPHEN,Controle de systèmes multi-robots pour l'observation de phenomenes dynamiques(2017)
Source :
Swarm Intelligence, Swarm Intelligence, Springer, 2020, 14, pp.57-82. ⟨10.1007/s11721-019-00178-7⟩, Swarm Intelligence, 2020, 14, pp.57-82. ⟨10.1007/s11721-019-00178-7⟩
Publication Year :
2020
Publisher :
HAL CCSD, 2020.

Abstract

International audience; Cooperative manipulation is a basic skill in groups of humans, animals , and in many robotic applications. Besides being an interesting challenge, communication-less approaches have been applied to groups of robots in order to achieve higher scalability and simpler hardware and software design. We present a generic model and control law for robots cooperatively manipulating an object, for both ground and floating systems. The control method exploits a leader-follower scheme and is based only on implicit communication (i.e., the sensing of contact forces). The control objective mainly consists of steering the object manipulated by the swarm of robots to a desired position and orientation in a cooperative way. For a system with just one leader, we present analytical results on the equilibrium configurations and their stability that are then validated by numerical simulations. The role of object internal forces (induced by the robots through contact forces) is discussed in terms of convergence of the object position and orientation to the desired values. We also present a discussion on additional properties of the controlled system that were investigated using thorough numerical analysis, namely, the robustness of the system when the object is subject to external disturbances in non-ideal conditions , and how the number of leaders in the swarm can affect the aforementioned convergence and robustness.

Details

Language :
English
ISSN :
19353812 and 19353820
Database :
OpenAIRE
Journal :
Swarm Intelligence, Swarm Intelligence, Springer, 2020, 14, pp.57-82. ⟨10.1007/s11721-019-00178-7⟩, Swarm Intelligence, 2020, 14, pp.57-82. ⟨10.1007/s11721-019-00178-7⟩
Accession number :
edsair.doi.dedup.....35c8da5dd7c6e65afefa1f730b0bdc69
Full Text :
https://doi.org/10.1007/s11721-019-00178-7⟩