Energy Budget Transaction Protocol for Distributed Robotic Systems

Stefan Sebastiaan Groothuis; Stefano  Stramigioli

Energy Budget Transaction Protocol for Distributed Robotic Systems

Stefan Sebastiaan Groothuis^*, Stefano Stramigioli

^*Corresponding author for this work

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

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Abstract

Passivity is a necessary condition for a system’s stability, meaning that when energy is generated, a system may readily become unstable. Passivity can be enforced using energy-aware actuation that monitors the amount of energy that is injected into or extracted out of a system. This type of actuation requires an energy budget to be used to execute a task. Communicating these energy budgets should be done carefully as to prevent accidental generation of energy. Therefore, this paper proposes an energy transaction protocol to communicate energy budgets in a distributed robotic system to guarantee that passivity is kept in a system. Simulations are performed with a model of the protocol with a highly unreliable communication channel to verify that the protocol indeed keeps passivity.

Original language	English
Title of host publication	Proceedings of the IEEE International Conference on Robotics and Automation
Publisher	IEEE Robotics and Automation Society
Publication status	Submitted - 20 May 2019
Event	IEEE International Conference on Robotics and Automation 2019 - Palais des congrès de Montréal, Montréal, Canada Duration: 20 May 2019 → 24 May 2019 http://www.icra2019.org

Conference

Conference	IEEE International Conference on Robotics and Automation 2019
Country/Territory	Canada
City	Montréal
Period	20/05/19 → 24/05/19
Internet address	http://www.icra2019.org

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title = "Energy Budget Transaction Protocol for Distributed Robotic Systems",

abstract = "Passivity is a necessary condition for a system{\textquoteright}s stability, meaning that when energy is generated, a system may readily become unstable. Passivity can be enforced using energy-aware actuation that monitors the amount of energy that is injected into or extracted out of a system. This type of actuation requires an energy budget to be used to execute a task. Communicating these energy budgets should be done carefully as to prevent accidental generation of energy. Therefore, this paper proposes an energy transaction protocol to communicate energy budgets in a distributed robotic system to guarantee that passivity is kept in a system. Simulations are performed with a model of the protocol with a highly unreliable communication channel to verify that the protocol indeed keeps passivity.",

author = "Groothuis, {Stefan Sebastiaan} and Stefano Stramigioli",

note = "{\textcopyright} 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.; IEEE International Conference on Robotics and Automation 2019 ; Conference date: 20-05-2019 Through 24-05-2019",

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T1 - Energy Budget Transaction Protocol for Distributed Robotic Systems

AU - Groothuis, Stefan Sebastiaan

AU - Stramigioli, Stefano

N1 - © 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

PY - 2019/5/20

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N2 - Passivity is a necessary condition for a system’s stability, meaning that when energy is generated, a system may readily become unstable. Passivity can be enforced using energy-aware actuation that monitors the amount of energy that is injected into or extracted out of a system. This type of actuation requires an energy budget to be used to execute a task. Communicating these energy budgets should be done carefully as to prevent accidental generation of energy. Therefore, this paper proposes an energy transaction protocol to communicate energy budgets in a distributed robotic system to guarantee that passivity is kept in a system. Simulations are performed with a model of the protocol with a highly unreliable communication channel to verify that the protocol indeed keeps passivity.

AB - Passivity is a necessary condition for a system’s stability, meaning that when energy is generated, a system may readily become unstable. Passivity can be enforced using energy-aware actuation that monitors the amount of energy that is injected into or extracted out of a system. This type of actuation requires an energy budget to be used to execute a task. Communicating these energy budgets should be done carefully as to prevent accidental generation of energy. Therefore, this paper proposes an energy transaction protocol to communicate energy budgets in a distributed robotic system to guarantee that passivity is kept in a system. Simulations are performed with a model of the protocol with a highly unreliable communication channel to verify that the protocol indeed keeps passivity.

M3 - Conference contribution

BT - Proceedings of the IEEE International Conference on Robotics and Automation

PB - IEEE Robotics and Automation Society

T2 - IEEE International Conference on Robotics and Automation 2019

Y2 - 20 May 2019 through 24 May 2019

ER -

Energy Budget Transaction Protocol for Distributed Robotic Systems

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