Affiliation:
1. Institute of Engineering and Computational Mechanics , University of Stuttgart , Pfaffenwaldring 9 , Stuttgart , Germany
Abstract
Abstract
With cooperative transportation, the paper looks at a demanding problem from distributed robotics. At its heart, the proposed transportation scheme uses distributed model predictive control. Yet, distributed control alone does not suffice to solve the task. Thus, also distributed organization, a custom software architecture, simulation, and custom robotic hardware are dealt with, bridging the gap between distributed control theory and practical robotics. The robots are enabled to transport arbitrarily-shaped objects, automatically adapting to changing circumstances and numbers of robots.
Funder
Deutsche Forschungsgemeinschaft
Subject
Electrical and Electronic Engineering,Computer Science Applications,Control and Systems Engineering
Reference20 articles.
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