3,939 research outputs found
Optimization of Potential Field Method Parameters through networks for Swarm Cooperative Manipulation Tasks
An interesting current research field related to autonomous robots is mobile manipulation performed by cooperating robots (in terrestrial, aerial and underwater environments). Focusing on the underwater scenario, cooperative manipulation of Intervention-Autonomous Underwater Vehicles (I-AUVs) is a complex and difficult application compared with the terrestrial or aerial ones because of many technical issues, such as underwater localization and limited communication. A decentralized approach for cooperative mobile manipulation of I-AUVs based on Artificial Neural Networks (ANNs) is proposed in this article. This strategy exploits the potential field method; a multi-layer control structure is developed to manage the coordination of the swarm, the guidance and navigation of I-AUVs and the manipulation task. In the article, this new strategy has been implemented in the simulation environment, simulating the transportation of an object. This object is moved along a desired trajectory in an unknown environment and it is transported by four underwater mobile robots, each one provided with a seven-degrees-of-freedom robotic arm. The simulation results are optimized thanks to the ANNs used for the potentials tuning
Continuum Deformation of a Multiple Quadcopter Payload Delivery Team without Inter-Agent Communication
This paper proposes continuum deformation as a strategy for controlling the
collective motion of a multiple quadcopter system (MQS) carrying a common
payload. Continuum deformation allows expansion and contraction of inter-agent
distances in a 2D motion plane to follow desired motions of three team leaders.
The remaining quadcopter followers establish the desired continuum deformation
only by knowing leaders positions at desired sample time waypoints without the
need for inter-agent communication over the intermediate intervals. Each
quadcopter applies a linear-quadratic-Gaussian (LQG) controller to track the
desired trajectory given by the continuum deformation in the presence of
disturbance and measurement noise. Results of simulated cooperative aerial
payload transport in the presence of uncertainty illustrate the application of
continuum deformation for coordinated transport through a narrow channel
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