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Distributed Decision Making and Control for Cooperative Transportation Using Mobile Robots

  • Henrik EbelEmail author
  • Peter Eberhard
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 10942)

Abstract

This paper introduces a distributed control scheme tailor-made to the task of letting a swarm of mobile robots push an object through a planar environment. Crucially, there is no centralized control instance or inter-robot hierarchy, and therefore, all decisions are made in a distributed manner. For being able to cooperate, the robots communicate, although the communication sampling time may be several times longer than the control sampling time. Most characteristic for the approach, distributed model predictive controllers are used to achieve a smooth transportation performance with the predicted control errors utilized to plan a suitable object trajectory. Challenging simulation scenarios show the applicability of the approach to the transportation task.

Keywords

Distributed optimization Communication Swarm mobile robots Cooperative object transportation Distributed model predictive control 

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Copyright information

© Springer International Publishing AG, part of Springer Nature 2018

Authors and Affiliations

  1. 1.Institute of Engineering and Computational MechanicsUniversity of StuttgartStuttgartGermany

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