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A Study on Force-based Collaboration in Swarms
- 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.
- Subjects :
- 0209 industrial biotechnology
Computer science
Admittance-controlled robots
Aerial robotic co-manipulation
Communication-less coordination
Multi-robot manipulation
Stability (learning theory)
Swarm behaviour
Control engineering
02 engineering and technology
Object (computer science)
Contact force
020901 industrial engineering & automation
Artificial Intelligence
Robustness (computer science)
[INFO.INFO-MA]Computer Science [cs]/Multiagent Systems [cs.MA]
Scalability
0202 electrical engineering, electronic engineering, information engineering
[INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY]
Software design
Robot
[INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO]
020201 artificial intelligence & image processing
Subjects
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⟩