Decentralized motion control for cooperative manipulation with a team of networked mobile manipulators

Antonio Petitti; Antonio Franchi; Donato Di Paola; Alessandro Rizzo

doi:10.1109/ICRA.2016.7487164

Decentralized motion control for cooperative manipulation with a team of networked mobile manipulators

Antonio Petitti, Antonio Franchi, Donato Di Paola, Alessandro Rizzo

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

33 Citations (Scopus)

Abstract

In this paper we consider the cooperative control of the manipulation of a load on a plane by a team of mobile robots. We propose two different novel solutions. The first is a controller which ensures exact tracking of the load twist. This controller is partially decentralized since, locally, it does not rely on the state of all the robots but needs only to know the system parameters and load twist. Then we propose a fully decentralized controller that differs from the first one for the use of i) a decentralized estimation of the parameters and twist of the load based only on local measurements of the velocity of the contact points and ii) a discontinuous robustification term in the control law. The second controller ensures a practical stabilization of the twist in presence of estimation errors. The theoretical results are finally corroborated with a simulation campaign evaluating different manipulation settings.

Original language	English
Title of host publication	2016 IEEE International Conference on Robotics and Automation, ICRA 2016
Place of Publication	Piscataway, NJ
Publisher	IEEE
Pages	441-446
Number of pages	6
ISBN (Electronic)	978-1-4673-8026-3
DOIs	https://doi.org/10.1109/ICRA.2016.7487164
Publication status	Published - 8 Jun 2016
Externally published	Yes
Event	2016 IEEE International Conference on Robotics and Automation, ICRA 2016 - Stockholm, Sweden Duration: 16 May 2016 → 21 May 2016 https://www.icra2016.org/

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation (ICRA)
Publisher	IEEE
Volume	2016
ISSN (Print)	1050-4729

Conference

Conference	2016 IEEE International Conference on Robotics and Automation, ICRA 2016
Abbreviated title	ICRA
Country	Sweden
City	Stockholm
Period	16/05/16 → 21/05/16
Internet address	https://www.icra2016.org/

Access to Document

10.1109/ICRA.2016.7487164

Link to publication in Scopus

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Petitti, A., Franchi, A., Di Paola, D., & Rizzo, A. (2016). Decentralized motion control for cooperative manipulation with a team of networked mobile manipulators. In 2016 IEEE International Conference on Robotics and Automation, ICRA 2016 (pp. 441-446). [7487164] (Proceedings - IEEE International Conference on Robotics and Automation (ICRA); Vol. 2016). IEEE. https://doi.org/10.1109/ICRA.2016.7487164

Petitti, Antonio ; Franchi, Antonio ; Di Paola, Donato ; Rizzo, Alessandro. / Decentralized motion control for cooperative manipulation with a team of networked mobile manipulators. 2016 IEEE International Conference on Robotics and Automation, ICRA 2016. Piscataway, NJ : IEEE, 2016. pp. 441-446 (Proceedings - IEEE International Conference on Robotics and Automation (ICRA)).

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title = "Decentralized motion control for cooperative manipulation with a team of networked mobile manipulators",

abstract = "In this paper we consider the cooperative control of the manipulation of a load on a plane by a team of mobile robots. We propose two different novel solutions. The first is a controller which ensures exact tracking of the load twist. This controller is partially decentralized since, locally, it does not rely on the state of all the robots but needs only to know the system parameters and load twist. Then we propose a fully decentralized controller that differs from the first one for the use of i) a decentralized estimation of the parameters and twist of the load based only on local measurements of the velocity of the contact points and ii) a discontinuous robustification term in the control law. The second controller ensures a practical stabilization of the twist in presence of estimation errors. The theoretical results are finally corroborated with a simulation campaign evaluating different manipulation settings.",

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Petitti, A, Franchi, A, Di Paola, D & Rizzo, A 2016, Decentralized motion control for cooperative manipulation with a team of networked mobile manipulators. in 2016 IEEE International Conference on Robotics and Automation, ICRA 2016., 7487164, Proceedings - IEEE International Conference on Robotics and Automation (ICRA), vol. 2016, IEEE, Piscataway, NJ, pp. 441-446, 2016 IEEE International Conference on Robotics and Automation, ICRA 2016, Stockholm, Sweden, 16/05/16. https://doi.org/10.1109/ICRA.2016.7487164

Decentralized motion control for cooperative manipulation with a team of networked mobile manipulators. / Petitti, Antonio; Franchi, Antonio; Di Paola, Donato; Rizzo, Alessandro.

2016 IEEE International Conference on Robotics and Automation, ICRA 2016. Piscataway, NJ : IEEE, 2016. p. 441-446 7487164 (Proceedings - IEEE International Conference on Robotics and Automation (ICRA); Vol. 2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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AB - In this paper we consider the cooperative control of the manipulation of a load on a plane by a team of mobile robots. We propose two different novel solutions. The first is a controller which ensures exact tracking of the load twist. This controller is partially decentralized since, locally, it does not rely on the state of all the robots but needs only to know the system parameters and load twist. Then we propose a fully decentralized controller that differs from the first one for the use of i) a decentralized estimation of the parameters and twist of the load based only on local measurements of the velocity of the contact points and ii) a discontinuous robustification term in the control law. The second controller ensures a practical stabilization of the twist in presence of estimation errors. The theoretical results are finally corroborated with a simulation campaign evaluating different manipulation settings.

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Petitti A, Franchi A, Di Paola D, Rizzo A. Decentralized motion control for cooperative manipulation with a team of networked mobile manipulators. In 2016 IEEE International Conference on Robotics and Automation, ICRA 2016. Piscataway, NJ: IEEE. 2016. p. 441-446. 7487164. (Proceedings - IEEE International Conference on Robotics and Automation (ICRA)). https://doi.org/10.1109/ICRA.2016.7487164