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arXiv · 1702.05770

Achieving the Desired Dynamic Behavior in Multi-Robot Systems Interacting with the Environment

Lorenzo Sabattini·Cristian Secchi·Cesare Fantuzzi
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Abstract

In this paper we consider the problem of controlling the dynamic behavior of a multi-robot system while interacting with the environment. In particular, we propose a general methodology that, by means of locally scaling inter-robot coupling relationships, leads to achieving a desired interactive behavior. The proposed method is shown to guarantee passivity preservation, which ensures a safe interaction. The performance of the proposed methodology is evaluated in simulation, over large-scale multi-robot systems.

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Lorenzo Sabattini, Cristian Secchi, Cesare Fantuzzi. 2017-02-19. Achieving the Desired Dynamic Behavior in Multi-Robot Systems Interacting with the Environment. https://doi.org/10.1109/icra.2017.7989241

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