Achieving the Desired Dynamic Behavior in Multi-Robot Systems Interacting with the Environment
This addresses control challenges for multi-robot systems in interactive tasks, but it appears incremental as it builds on existing coupling and passivity concepts.
The paper tackles the problem of controlling dynamic behavior in multi-robot systems interacting with the environment by proposing a methodology that scales inter-robot coupling to achieve desired interactive behavior, with results showing passivity preservation for safety and evaluation in simulation over large-scale systems.
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.