Multi-Robot Coordination With Saturated Actuation
Are connectivity-preserving coordination controllers still valid for a multi-robot system under actuator saturation? I found that the gradient control law derived from a customized potential keeps effective for single-integrator networks even if saturated. Thus, the controller design can fully exploit limited robot velocities for rapid coordination [3]. By contrast, the control fails to maintain a saturated Euler-Lagrange network connected, especially with time-delay communications. In the light of this, I established an intrinsically passive control via second-order virtual proxies for connectivity-preserving coordination of Euler-Lagrange networks. The results are reported in [4]. |
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Teleoperated Containment of a Multi-Robot System
Unlike autonomous systems, teleoperated multi-robot systems are jeopardized by the physical interactions with users/environments in terms of connectivity-preserving synchronization. Because of the unknown bound of interaction-induced energy, most connectivity-preserving controllers employ unbounded potential functions to render passive teleoperation. I selected a sliding variable by a bounded potential function to retain a tree communication network during teleoperation [5]. On top of this, the underlying passivity-based control principle is exhibited and then employed to develop a feedforward-feedback passivation strategy in [6] for connectivity-preserving containment control through passive teleoperation. |
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[3] Y. Yang, D. Constantinescu and Y. Shi, “Distributed connectivity-preserving coordination of multi-agent systems with bounded velocities,” in 2019 International Conference on Human Interaction and Emerging Technologies (IHIET), August 22-24, Nice, France, pp. 695-699.
[4] Y. Yang, Y. Shi and D. Constantinescu, “Connectivity-preserving synchronization of time-delay Euler-Lagrange network with bounded actuation,” in IEEE Transactions on Cybernetics, vol. 51, no. 7, pp. 3469-3482, July 2021.
[5] Y. Yang, D. Constantinescu and Y. Shi, “Connectivity-preserving swarm teleoperation with a tree network,” in 2019 IEEE International Conference on Intelligent Robots and Systems (IROS), November 4-8, Macau, China, pp. 3624-3629.
[6] Y. Yang, D. Constantinescu and Y. Shi, “Passive multi-user teleoperation of a multi-robot system with connectivity-preserving containment”, in IEEE Transactions on Robotics, doi: 10.1109/TRO.2021.3086685.
[4] Y. Yang, Y. Shi and D. Constantinescu, “Connectivity-preserving synchronization of time-delay Euler-Lagrange network with bounded actuation,” in IEEE Transactions on Cybernetics, vol. 51, no. 7, pp. 3469-3482, July 2021.
[5] Y. Yang, D. Constantinescu and Y. Shi, “Connectivity-preserving swarm teleoperation with a tree network,” in 2019 IEEE International Conference on Intelligent Robots and Systems (IROS), November 4-8, Macau, China, pp. 3624-3629.
[6] Y. Yang, D. Constantinescu and Y. Shi, “Passive multi-user teleoperation of a multi-robot system with connectivity-preserving containment”, in IEEE Transactions on Robotics, doi: 10.1109/TRO.2021.3086685.