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Document type:
Konferenzbeitrag 
Author(s):
D. Sieber; F. Deroo; S. Hirche 
Title:
Iterative optimal feedback control design under relaxed rigidity constraints for multi-robot cooperative manipulation 
Abstract:
Cooperative manipulation of multiple robots presents an interesting control application scenario of coupled dynamical systems with a common goal. Here, we treat the problem of moving a formation of physically interconnected robots to a desired goal while maintaining the formation. This control problen is for example relevant in cooperative transport of an object from an initial to a final configuration by mobile robotic manipulators. To achieve the control goal we formulate an LQ...    »
 
Book / Congress title:
Proceedings of the 52nd IEEE Conference on Decision and Control (CDC) 
Year:
2013 
Pages: