Tree organization method for structuring cluster space-based rover formations with applications to multi-object transportation

"In this work, concepts of cluster space approach are extended through a novel formulation, namely Tree Organization Method (TOM), to systematically arrange formations of mobile robots. TOM consists in analyzing the =-robot cluster as an open kinematic chain with multiple branches, where robots...

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Autores principales: Baquero-Suárez, Mauro, Mas, Ignacio, Giribet, Juan I.
Formato: Ponencias en Congresos acceptedVersion
Lenguaje:Inglés
Publicado: 2021
Materias:
ROBOTICA
CONTROL ROBUSTO
DINAMICA DE CUERPOS RIGIDOS
Acceso en línea:http://ri.itba.edu.ar/handle/123456789/3346
Aporte de:
Repositorio Institucional Instituto Tecnológico de Buenos Aires (ITBA) de Instituto Tecnológico de Buenos Aires (ITBA)
id I32-R138-123456789-3346
record_format dspace
spelling I32-R138-123456789-33462022-12-07T14:13:49Z Tree organization method for structuring cluster space-based rover formations with applications to multi-object transportation Baquero-Suárez, Mauro Mas, Ignacio Giribet, Juan I. ROBOTICA CONTROL ROBUSTO DINAMICA DE CUERPOS RIGIDOS "In this work, concepts of cluster space approach are extended through a novel formulation, namely Tree Organization Method (TOM), to systematically arrange formations of mobile robots. TOM consists in analyzing the =-robot cluster as an open kinematic chain with multiple branches, where robots remain linked as they move according to this virtual mechanism, by ensuring the specified formation’s geometry during all the navigation time.TOMallows to easily generate synchronized reference trajectories for all robots involved in the formation, and this formulation is applied to the particular case of an arranged 7-robot cluster tasked to transport 3 spheres along a predefined trajectory. This scenario is recreated in a realistic cooperative simulation interfacing MSC ADAMS and MATLAB, where multi-body dynamic modeling, cluster specification under TOM and robust tracking controllers are developed for this multi-robot application." 2021-01-25T19:25:54Z 2021-01-25T19:25:54Z 2020-10 Ponencias en Congresos info:eu-repo/semantics/acceptedVersion 978-3-030-60372-4 http://ri.itba.edu.ar/handle/123456789/3346 en info:eu-repo/semantics/reference/doi/10.1007/978-3-030-60372-4_23 application/pdf
institution Instituto Tecnológico de Buenos Aires (ITBA)
institution_str I-32
repository_str R-138
collection Repositorio Institucional Instituto Tecnológico de Buenos Aires (ITBA)
language Inglés
topic ROBOTICA
CONTROL ROBUSTO
DINAMICA DE CUERPOS RIGIDOS
spellingShingle ROBOTICA
CONTROL ROBUSTO
DINAMICA DE CUERPOS RIGIDOS
Baquero-Suárez, Mauro
Mas, Ignacio
Giribet, Juan I.
Tree organization method for structuring cluster space-based rover formations with applications to multi-object transportation
topic_facet ROBOTICA
CONTROL ROBUSTO
DINAMICA DE CUERPOS RIGIDOS
description "In this work, concepts of cluster space approach are extended through a novel formulation, namely Tree Organization Method (TOM), to systematically arrange formations of mobile robots. TOM consists in analyzing the =-robot cluster as an open kinematic chain with multiple branches, where robots remain linked as they move according to this virtual mechanism, by ensuring the specified formation’s geometry during all the navigation time.TOMallows to easily generate synchronized reference trajectories for all robots involved in the formation, and this formulation is applied to the particular case of an arranged 7-robot cluster tasked to transport 3 spheres along a predefined trajectory. This scenario is recreated in a realistic cooperative simulation interfacing MSC ADAMS and MATLAB, where multi-body dynamic modeling, cluster specification under TOM and robust tracking controllers are developed for this multi-robot application."
format Ponencias en Congresos
acceptedVersion
author Baquero-Suárez, Mauro
Mas, Ignacio
Giribet, Juan I.
author_facet Baquero-Suárez, Mauro
Mas, Ignacio
Giribet, Juan I.
author_sort Baquero-Suárez, Mauro
title Tree organization method for structuring cluster space-based rover formations with applications to multi-object transportation
title_short Tree organization method for structuring cluster space-based rover formations with applications to multi-object transportation
title_full Tree organization method for structuring cluster space-based rover formations with applications to multi-object transportation
title_fullStr Tree organization method for structuring cluster space-based rover formations with applications to multi-object transportation
title_full_unstemmed Tree organization method for structuring cluster space-based rover formations with applications to multi-object transportation
title_sort tree organization method for structuring cluster space-based rover formations with applications to multi-object transportation
publishDate 2021
url http://ri.itba.edu.ar/handle/123456789/3346
work_keys_str_mv AT baquerosuarezmauro treeorganizationmethodforstructuringclusterspacebasedroverformationswithapplicationstomultiobjecttransportation
AT masignacio treeorganizationmethodforstructuringclusterspacebasedroverformationswithapplicationstomultiobjecttransportation
AT giribetjuani treeorganizationmethodforstructuringclusterspacebasedroverformationswithapplicationstomultiobjecttransportation
_version_ 1765660828586999808

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