Cooperative transportation: realizing the promises of robotic networks using a tailored software/hardware architecture
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Henrik Ebel
Henrik Ebel received his B.Sc. and M.Sc. degrees in Simulation Technology from the University of Stuttgart, Germany, in 2014 and 2016, and completed his doctoral studies in 2021. He is currently a postdoctoral researcher at the Institute of Engineering and Computational Mechanics at the University of Stuttgart. His research interests include multibody system dynamics, control engineering, and robotics. Of particular interest are the cooperation of multiple robotic agents, as well as optimization-based control.
and
Peter Eberhard
Peter Eberhard is full professor and since 2002 director of the Institute of Engineering and Computational Mechanics (ITM) at the University of Stuttgart, Germany. He was Treasurer and Bureau member of IUTAM, the International Union of Theoretical and Applied Mechanics, and served before in many national and international organizations, e. g., as Chairman of the IMSD (International Association for Multibody System Dynamics) or DEKOMECH (German Committee for Mechanics).
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.
Zusammenfassung
Der Beitrag befasst sich mit einer kooperativen Transportaufgabe als anspruchsvolles Modellproblem aus der verteilten Robotik. Im Kern nutzt das vorgeschlagene Transportschema verteilte modellprädiktive Regelung. Jedoch genügt verteilte Regelung alleine nicht, um die Transportaufgabe zu lösen. Um eine Brücke von der verteilten Regelungstheorie zur praktischen Robotik zu schlagen, werden daher auch die verteilte Organisation, eine maßgeschneiderte Softwarearchitektur, die Simulation sowie maßgeschneiderte Hardwareroboter behandelt. Im Ergebnis können die Roboter beliebig geformte Objekte transportieren und sich autonom an verschiedene Begebenheiten anpassen.
Funding source: Deutsche Forschungsgemeinschaft
Award Identifier / Grant number: 390740016
Award Identifier / Grant number: EB195/32-1 433183605
Funding statement: This research is funded by the Deutsche Forschungsgemeinschaft (DFG, German Research Foundation) under Germany’s Excellence Strategy – EXC 2075 – 390740016, project PN4-4 “Theoretical Guarantees for Predictive Control in Adaptive Multi-Agent Scenarios” and project EB195/32-1 433183605 “Research on Multibody Dynamics and Control for Collaborative Elastic Object Transportation by a Heterogeneous Swarm with Aerial and Land-Based Mobile Robots”.
About the authors
Henrik Ebel received his B.Sc. and M.Sc. degrees in Simulation Technology from the University of Stuttgart, Germany, in 2014 and 2016, and completed his doctoral studies in 2021. He is currently a postdoctoral researcher at the Institute of Engineering and Computational Mechanics at the University of Stuttgart. His research interests include multibody system dynamics, control engineering, and robotics. Of particular interest are the cooperation of multiple robotic agents, as well as optimization-based control.
Peter Eberhard is full professor and since 2002 director of the Institute of Engineering and Computational Mechanics (ITM) at the University of Stuttgart, Germany. He was Treasurer and Bureau member of IUTAM, the International Union of Theoretical and Applied Mechanics, and served before in many national and international organizations, e. g., as Chairman of the IMSD (International Association for Multibody System Dynamics) or DEKOMECH (German Committee for Mechanics).
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© 2022 Walter de Gruyter GmbH, Berlin/Boston
Articles in the same Issue
- Frontmatter
- Editorial
- Ausgewählte Beiträge des GMA Fachausschusses 1.50
- Survey
- A compendium of optimization algorithms for distributed linear-quadratic MPC
- Rollout event-triggered control: reconciling event- and time-triggered control
- Methoden
- Uncertain AoI in stochastic optimal control of constrained LTI systems
- Gradient-Tracking-basierte Lösung von Multi-Cluster-Spielen
- Adaptively robust nonlinear model predictive control based on attack identification
- Cooperative transportation: realizing the promises of robotic networks using a tailored software/hardware architecture
- Fahrsituationsabhängiger Wechsel der Kommunikationstopologie für heterogene Platoons
- Dissertationen
- Automatisierte Erzeugung von Modellen und Beobachtern für physikalisch vernetzte Systeme
Articles in the same Issue
- Frontmatter
- Editorial
- Ausgewählte Beiträge des GMA Fachausschusses 1.50
- Survey
- A compendium of optimization algorithms for distributed linear-quadratic MPC
- Rollout event-triggered control: reconciling event- and time-triggered control
- Methoden
- Uncertain AoI in stochastic optimal control of constrained LTI systems
- Gradient-Tracking-basierte Lösung von Multi-Cluster-Spielen
- Adaptively robust nonlinear model predictive control based on attack identification
- Cooperative transportation: realizing the promises of robotic networks using a tailored software/hardware architecture
- Fahrsituationsabhängiger Wechsel der Kommunikationstopologie für heterogene Platoons
- Dissertationen
- Automatisierte Erzeugung von Modellen und Beobachtern für physikalisch vernetzte Systeme
