Energy budget transaction protocol for distributed robotic systems

S.S. Groothuis, S. Stramigioli

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

    1 Citation (Scopus)
    1 Downloads (Pure)

    Abstract

    Passivity is a necessary condition for a system's stability, meaning that an energy generating system may readily become unstable. Energy-aware actuation can enforce passivity by monitoring the amount of energy that is exchanged with a system, while using an allocated energy budget to execute a task. Careful communication of the energy budgets is important 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. Simulations are performed with a model of the protocol that is applied to a simulated unreliable communication channel. It is verified that the proposed protocol keeps passivity in the system, while a naive communication strategy either violates passivity or is unnecessarily dissipative.

    Original languageEnglish
    Title of host publication2019 International Conference on Robotics and Automation, ICRA 2019
    Place of PublicationPiscataway, NJ
    PublisherIEEE
    Pages1563-1568
    Number of pages6
    ISBN (Electronic)9781538660263
    DOIs
    Publication statusPublished - 1 May 2019
    Event2019 IEEE International Conference on Robotics and Automation, ICRA 2019 - Palais des Congrès de Montreal, Montreal, Canada
    Duration: 20 May 201924 May 2019

    Publication series

    NameProceedings - IEEE International Conference on Robotics and Automation (ICRA)
    Volume2019
    ISSN (Print)1050-4729
    ISSN (Electronic)2577-087X

    Conference

    Conference2019 IEEE International Conference on Robotics and Automation, ICRA 2019
    Abbreviated titleICRA 2019
    CountryCanada
    CityMontreal
    Period20/05/1924/05/19

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