User: Guest  Login
Title:

Iterative optimal feedback control design under relaxed rigidity constraints for multi-robot cooperative manipulation

Document type:
Konferenzbeitrag
Author(s):
D. Sieber; F. Deroo; S. Hirche
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 LQR-like o...     »
Book / Congress title:
Proceedings of the 52nd IEEE Conference on Decision and Control (CDC)
Year:
2013
Pages:
6
 BibTeX