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.
|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
|Conference||IEEE International Conference on Robotics and Automation 2019|
|Period||20/05/19 → 24/05/19|
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.