Distributed Optimisation for Multi-Robot Cooperative Manipulation Control in Dynamic Environments

By (author) Yanhao He

Extent: 180, 180 pages

Publisher: Logos Verlag Berlin

Subjects: Technical Sciences: Computer Science, Engineering, IT, & Math

Series: Forschungsberichte aus dem Lehrstuhl für Regelungssysteme

Series volume number: 21

Language: English

Paperback (Published)

(February 2022)

ISBN: 9783832554408

5.71 x 8.27 inches

Price: $73.00

Out of stock

Synopsis
Contributing Authors

Since the manipulation tasks for robotic systems become more and more complicated, multi-robot cooperation has been attracting much attention recently. Furthermore, under the trend of human-robot co-existence, collision-free motion control is now also desired on multi-robot groups. This dissertation aims to design a novel distributed optimal control framework to deal with multi-robot cooperative manipulation of rigid objects in dynamic environments. Besides object transportation, the control scheme also tackles obstacle avoidance, joint-space performance optimisation and internal force suppression. The proposed control framework has a two-layer structure, with a distributed optimisation algorithm in the kinematic layer for generating proper joint configuration references, followed by a robot motion controller in the dynamic control layer to fulfil the reference. An indirect and a direct distributed optimisation method are developed for the kinematic layer, both of which are computationally and communicationally efficient. In the dynamic control layer, impedance control is employed for safe physical interaction. As another highlight, abundant experiments carried out on a multi-arm test bench have demonstrated the effectiveness of the presented control schemes under various environmental and task settings. The recorded computation time shows the applicability of the control framework in practice.

By (author) Yanhao He

Other Titles in this Series

Modellpradiktive Verschattungsregelung in Buroraumen unter Verwendung eines thermischen Hybridmodells

Volume 23

By (author) Tim Steiner

Contributions to Model Predictive Active Vibration Control under Parametric Resonance

Volume 24

By (author) Joe Ismail

Modelling and Control of an Autonomous Two-Wheeled Vehicle

Volume 19

By (author) Alen Turnwald

Output-Based Control and Scheduling of Resource-Constrained Processes

Volume 10

By (author) Sven Reimann

Ultra-wideband Based Indoor Localization Using Sensor Fusion and Support Vector Machine

Volume 20

By (author) Zhuoqi Zeng

Investigation on Robust Codesign Methods for Networked Control Systems

Volume 12

By (author) Sanad Al-Areqi

Contributions to Event-triggered and Distributed Model Predictive Control

Volume 15

By (author) Felix Berkel

A contribution to model-based fault diagnosis of electro-pneumatic shift actuators in commercial vehicles

Volume 7

By (author) Guido Flohr

Energieoptimaler Betrieb gekoppelter Mehrpumpensysteme

Volume 18

By (author) Sebastian Caba

Thermal Modeling and Management of Multi-Core Processors

Volume 8

By (author) Jianfei Wang

Beitrag zu iterativ lernenden modellpradiktiven Regelungen

Volume 13

by Fabian Kennel

Model-based trajectory tracking control of a planar parallel robot with redundancies

Volume 4

By (author) Jens Kroneis

A Contribution to Modeling and Control of Modular Multilevel Cascaded Converter (MMCC)

Volume 14

By (author) Yun Wan

Optimal Control of Switched Systems with Application to Networked Embedded Control Systems

Volume 5

By (author) Daniel Gorges

Designing Socially Aware Robot Motion

A Dynamical Systems Approach

Volume 27

By (author) Xiang Chen

A Hybrid Physical and Data-driven Approach to Motion Prediction and Control in Human-Robot Collaboration

Volume 22

By (author) Min Wu

Similar Books

The New Other

Alien Intelligence and the Innovation Drive

By (author) Amy Levy

Transitive Media [Philosophy]

Think(er)ing Technologies in Real-Time

By (author) Wolfgang Ernst

Care in an Era of New Technologies and Artificial Intelligence

Relationships in a Connected World

Volume 14

By (author) V. Nurock

City in the Cloud – Data on the Ground

The Architecture of Data (English-language)

Edited by Damjan Kokalevski Edited by Andres Lepik Edited by Cara Hähl-Pfeifer Contributions by James…

Global Histories of Video Game Music Technology

Volume 8

Edited by Karen M. Cook Edited by William Bibbons Edited by Fanny Rebillard

Natural Resources in Early Modern Economies of Knowledge

Volume 40

Edited by Pietro Daniel Omodeo Edited by Helge Wendt

Physical Characterization of Coatings

Introduction to Rheology and Surface Analysis

By (author) Michael Osterhold

The Digital Turn in Religious Studies

Research, Services, Infrastructures

Edited by Alberto Melloni Edited by Francesca Cadeddu

The Physics of the Mind

New Perspectives for Psychotherapists, Healers and Seekers

By (author) Phil Mollon

Buchblogs zwischen Passion und Profession

Zur Diskursivierung digitaler literaturbezogener Anschlusskommunikation als Arbeit

By (author) Kristina Petzold

Die Einführung ins richtige Handeln in der Arithmetik (Madḫal ar-rašad ilā ʿilm al-ʿadad) von al-Qalaṣādī (st. 1486)

Bearbeitung und Einordnung in die maġribinische Mathematikgeschichte

Volume 19

By (author) Ulrich Rebstock

Digitale Medien und Religionsunterricht

Ein domänenspezifischer Beitrag zu einer kritischen Medienbildung unter Berücksichtigung medien-, bildungs- und lerntheoretischer Perspektiven

By (author) Anja Graf

Ein Glucksritter als Wegbereiter der Motorisierung

Der Basler Kaufmann Eduard Burckhardt (1847-1897)

by Christoph Ditzler and Ilse Rolle Ditzler

Erinnerung an Wilhelm Gottlieb Hankel (1814–1899) aus Anlass seines 125. Todestages

By (author) Bodo Geyer

Falschung, Betrug, Beliebigkeit

der Vertrauensverlust der Wissenschaft

by Manfred Velden

Leó Szilárd – Der Mann hinter der Bombe

By (author) Arne Molfenter

Partizipative Produktentwicklung in der Modeindustrie

Methoden, Vorgehensmodelle und ihre Anwendung in der Wertschöpfung smarter Outdoorbekleidung

By (author) Laura Tihon

Articulations of the Nuclear

Postwar Japan under the Spell of the Atomic Age

Volume 13

edited by Stephan Kohn and Katharina Hulsmann

Artificial Morality

An Exploration of Moral Machines

Volume 4

by Andrei Nutas

Decameter Radio Emission of the Sun

edited by Valentin Nikolayevich Melnik and Helmut O. Rucker

Development of a telemetry system for monitoring piston characteristics inside combustion engines

By (author) Paul Lagaly

Global History of Techniques

(19th-21st Centuries)

Volume 9

Edited by Guillaume Carnino Edited by Liliane Hilaire-Perez Edited by Jerome Lamy

Heterarchical Production Planning and Control Architectures in the Context of Industry 4.0

Complexity-based Selection and Guidance for Implementation

Volume 67

By (author) Dennis Horstkemper

Language, Technology, Humanities in Society 5.0

Edited by Maria Banaś Edited by Grzegorz Wlaźlak

Numbers, Measures, and the Transfer of Goods in Prehistory

Volume 6

Edited by Philippe Della Casa Edited by Aleksander Dzbyński

On the Scattering Behavior of Dielectric Corner Reflectors in Distributed Radar Systems

By (author) Christian Alexander Buchberger

Proceedings of the 7th Symposium of the Hellenic Society for Archaeometry

Archaeology Archaeometry: 30 Years Later

Edited by Eleni Filippaki

RNA Made Simple

The Essential Guide to Extraction

By (author) Christian Siadjeu By (author) Dirk C Albach

Route and Operating Optimization of Maritime Vessels Using Machine Learning Techniques

By (author) Mohammad Hossein Moradi

Short-Term Load Forecasting using Machine Learning Methods

Volume 7

By (author) Sylwia Henselmeyer

Sovereign by Design

The LIONS Approach to Digital Sovereignty

Edited by Isabelle Fries Edited by Michael Grabatin Edited by Manfred Hofmeier

The Promise and Peril of AI and IA

New Technology Meets Religion, Theology, and Ethics

edited by Ted Peters

Die unsichtbare Welt

Beitrage zur Weltwahrnehmung in den Wissenschaften

edited by Klaus Bohmer, Paul-Gerhard Reinhard and Dirk Evers

A Cultural History of Silicon Valley

Volume 325

By (author) Neslihan Bulut

I disegni e i discorsi di Giovanni Antonio Nigrone vol. I

fontanaro e ingegniero de acqua (1585-1609 ca.)

Volume 481

by Gaia Bruno

I disegni e i discorsi di Giovanni Antonio Nigrone vol. II

Fontanaro e ingegniero de acqua (1585-1609 ca.)

Volume 497

edited by Gaia Bruno and David Gentilcore

Ingenieurs mais apprentis

Volume 32

by Arnaud Pierrel

Annual Report 2022

Laboratory of Ion Beam Physics

By (author) LIBRUM Publishers & Editors

Building and Designing Transistor Radios

A Beginner's Guide

by R H Warring

Building and Designing Transistor Radios

A Beginner's Guide

by R H Warring

Learning with Light and Shadows

Educational Lantern and Film Projection, 1860-1990

Volume 8

Edited by Nelleke Teughels Edited by Kaat Wils

Learning-based Model Predictive Control with closed-loop guarantees

By (author) Raffaele Soloperto

Distributed Optimisation for Multi-Robot Cooperative Manipulation Control in Dynamic Environments

Tell a Colleague/Librarian/Friend

Other Titles in this Series

Similar Books

Join the ISD Mailing List