TY - GEN
T1 - Decentralized PD control for multi-robot collective transport to a target location using minimal information
AU - Farivarnejad, Hamed
AU - Berman, Spring
N1 - Funding Information:
Further author information: (Send correspondence to Spring Berman) Hamed Farivarnejad: E-mail: hamed.farivarnejad@asu.edu Spring Berman: E-mail: spring.berman@asu.edu This work was supported by the Arizona State University Global Security Initiative.
Publisher Copyright:
© 2020 SPIE.
Copyright:
Copyright 2020 Elsevier B.V., All rights reserved.
PY - 2020
Y1 - 2020
N2 - In this paper, we propose decentralized position controllers for a team of point-mass robots that must cooperatively transport a payload to a target location. The robots have double-integrator dynamics and are rigidly attached to the payload. The controllers only require robots' measurements of their own positions and velocities, and the only information provided to the robots is the desired position of the payload's center of mass. We consider scenarios in which the robots do not know the position of the payload's center of mass and try to selfishly stabilize their own positions to the desired location, similar to the behaviors exhibited by certain species of ants when retrieving food items in groups. We propose a proportional-derivative (PD) controller that does not rely on inter-robot communication, prior information about the load dynamics and geometry, or knowledge of the number of robots and their distribution around the payload. Using a Lyapunov argument, we prove that under this control strategy, the payload's center of mass converges to a neighborhood of the desired position. Moreover, we prove that the payload's rotation is bounded, and its angular velocity converges to zero. We show that the error between the steady-state position of the payload's center of mass and its desired position depends on the robots' distribution around the payload's center of mass, with a uniform distribution resulting in the lowest steady-state error. We validate our theoretical results with simulations in MATLAB.
AB - In this paper, we propose decentralized position controllers for a team of point-mass robots that must cooperatively transport a payload to a target location. The robots have double-integrator dynamics and are rigidly attached to the payload. The controllers only require robots' measurements of their own positions and velocities, and the only information provided to the robots is the desired position of the payload's center of mass. We consider scenarios in which the robots do not know the position of the payload's center of mass and try to selfishly stabilize their own positions to the desired location, similar to the behaviors exhibited by certain species of ants when retrieving food items in groups. We propose a proportional-derivative (PD) controller that does not rely on inter-robot communication, prior information about the load dynamics and geometry, or knowledge of the number of robots and their distribution around the payload. Using a Lyapunov argument, we prove that under this control strategy, the payload's center of mass converges to a neighborhood of the desired position. Moreover, we prove that the payload's rotation is bounded, and its angular velocity converges to zero. We show that the error between the steady-state position of the payload's center of mass and its desired position depends on the robots' distribution around the payload's center of mass, with a uniform distribution resulting in the lowest steady-state error. We validate our theoretical results with simulations in MATLAB.
KW - Collective payload transport
KW - Decentralized control
KW - Multi-robot systems
UR - http://www.scopus.com/inward/record.url?scp=85087892762&partnerID=8YFLogxK
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U2 - 10.1117/12.2560220
DO - 10.1117/12.2560220
M3 - Conference contribution
AN - SCOPUS:85087892762
T3 - Proceedings of SPIE - The International Society for Optical Engineering
BT - Unmanned Systems Technology XXII
A2 - Nguyen, Hoa G.
A2 - Muench, Paul L.
A2 - Shoemaker, Charles M.
PB - SPIE
T2 - Unmanned Systems Technology XXII 2020
Y2 - 27 April 2020 through 8 May 2020
ER -