Achieving the desired dynamic behavior in multi-robot systems interacting with the environment

Lorenzo Sabattini; Cristian Secchi; Cesare Fantuzzi

ICRA 2017poster12 citations

Achieving the desired dynamic behavior in multi-robot systems interacting with the environment

Lorenzo Sabattini, Cristian Secchi, Cesare Fantuzzi

Abstract

In this paper we consider the problem of controlling the dynamic behavior of a multi-robot system while interacting with the environment. In particular, we propose a general methodology that, by means of locally scaling inter-robot coupling relationships, leads to achieving a desired interactive behavior. The proposed method is shown to guarantee passivity preservation, which ensures a safe interaction. The performance of the proposed methodology is evaluated in simulation, over large-scale multi-robot systems.

BibTeX

@inproceedings{icra2017_achievingthedesi,
  title = {Achieving the desired dynamic behavior in multi-robot systems interacting with the environment},
  author = {Lorenzo Sabattini and Cristian Secchi and Cesare Fantuzzi},
  booktitle = {ICRA 2017},
  year = {2017}
}