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 proceedingConference contributionAcademicpeer-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 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

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