首页|Findings in the Area of Robotics Reported from University of Stuttgart (Cooperative Object Transportation With Differentialdrive Mobile Robots: Control and Experimentation)
Findings in the Area of Robotics Reported from University of Stuttgart (Cooperative Object Transportation With Differentialdrive Mobile Robots: Control and Experimentation)
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NETL
NSTL
Elsevier
Investigators publish new report on Robotics. According to news reporting out of Stuttgart, Germany, by NewsRx editors, research stated, “Non -prehensile cooperative object transportation is a challenging model problem for distributed control and organization methods but also has practical applications. Therefore, it is widely studied in distributed robotics research.” Financial support for this research came from German Research Foundation (DFG). Our news journalists obtained a quote from the research from the University of Stuttgart, “This paper describes and evaluates a novel transportation scheme for differential -drive mobile robots that is, to the authors’ best knowledge, the most versatile scheme of its kind successfully evaluated with real -world hardware. The proposed scheme can conceptually deal with any number of robots and arbitrary polygonal objects, including non -convex ones, without having to retune, retrain, or reconfigure any of the control parameters between different scenarios. This is achieved by splitting the task into a formation control and a formation finding task, both of which are tackled with model -based approaches using distributed optimization. Formation control and formation finding are complicated by the robots’ non-holonomic kinematic constraints. Therefore, a tailored distributed model predictive controller is used for formation control. Finding formations relies on a multibody-dynamics representation of the robots -object system to properly account for contact and non-holonomic constraints.”
StuttgartGermanyEuropeEmerging TechnologiesMachine LearningNano-robotRoboticsUniversity of Stuttgart
NETL
NSTL
Elsevier
