TY - GEN
T1 - Energy budget transaction protocol for distributed robotic systems
AU - Groothuis, S.S.
AU - Stramigioli, S.
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 - 2019/5/1
Y1 - 2019/5/1
N2 - 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.
AB - 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.
KW - 2023 OA procedure
UR - https://www.scopus.com/pages/publications/85071450263
U2 - 10.1109/ICRA.2019.8794388
DO - 10.1109/ICRA.2019.8794388
M3 - Conference contribution
AN - SCOPUS:85071450263
T3 - Proceedings - IEEE International Conference on Robotics and Automation (ICRA)
SP - 1563
EP - 1568
BT - 2019 International Conference on Robotics and Automation, ICRA 2019
PB - IEEE
CY - Piscataway, NJ
T2 - 2019 IEEE International Conference on Robotics and Automation, ICRA 2019
Y2 - 20 May 2019 through 24 May 2019
ER -