4 accepted papers
Optimal path planning is prone to convergence to local, rather than global, optima. This is often the case for mobile manipulators due to nonconvexities induced by obstacles, robot kinematics and constraints. This paper focuses on planning under end effector path constraints and attempts to circumve…
Optimal path planning is prone to convergence to local, rather than global, optima. This is often the case for mobile manipulators due to nonconvexities induced by obstacles, robot kinematics and constraints. This paper focuses on planning under end effector path constraints and attempts to circumve
In this work, we develop a control algorithm for mobile manipulators manipulating an object within a leader-follower framework. Unlike existing literature, we avoid the knowledge of the object’s dynamics, and only the leader is aware of the tasks to be executed by the object. The followers are prima…
We address the problem of cooperative manipulation of an object whose tasks are specified by a Signal Temporal Logic (STL) formula. We employ the Prescribed Performance Control (PPC) methodology to guarantee predefined transient and steady-state performance on the object trajectory in order to satis