Energy Budget Transaction Protocol for Distributed Robotic Systems

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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 languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Robotics and Automation
PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
Publication statusSubmitted - 20 May 2019
EventIEEE International Conference on Robotics and Automation 2019 - Palais des congrès de Montréal, Montréal, Canada
Duration: 20 May 201924 May 2019
http://www.icra2019.org

Conference

ConferenceIEEE International Conference on Robotics and Automation 2019
CountryCanada
CityMontréal
Period20/05/1924/05/19
Internet address

Fingerprint

System stability
Robotics

Cite this

Groothuis, S. S., & Stramigioli, S. (2019). Energy Budget Transaction Protocol for Distributed Robotic Systems. Manuscript submitted for publication. In Proceedings of the IEEE International Conference on Robotics and Automation IEEE ROBOTICS AND AUTOMATION SOCIETY.
Groothuis, Stefan Sebastiaan ; Stramigioli, Stefano . / Energy Budget Transaction Protocol for Distributed Robotic Systems. Proceedings of the IEEE International Conference on Robotics and Automation. IEEE ROBOTICS AND AUTOMATION SOCIETY, 2019.
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title = "Energy Budget Transaction Protocol for Distributed Robotic Systems",
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.",
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Groothuis, SS & Stramigioli, S 2019, Energy Budget Transaction Protocol for Distributed Robotic Systems. in Proceedings of the IEEE International Conference on Robotics and Automation. IEEE ROBOTICS AND AUTOMATION SOCIETY, IEEE International Conference on Robotics and Automation 2019, Montréal, Canada, 20/05/19.

Energy Budget Transaction Protocol for Distributed Robotic Systems. / Groothuis, Stefan Sebastiaan; Stramigioli, Stefano .

Proceedings of the IEEE International Conference on Robotics and Automation. IEEE ROBOTICS AND AUTOMATION SOCIETY, 2019.

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

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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.

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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.

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Groothuis SS, Stramigioli S. Energy Budget Transaction Protocol for Distributed Robotic Systems. In Proceedings of the IEEE International Conference on Robotics and Automation. IEEE ROBOTICS AND AUTOMATION SOCIETY. 2019