INVESTIGADORES
GARELLI fabricio
congresos y reuniones científicas
Título:
A Reactive Geometric-Invariance Approach for Robot Coordination.
Autor/es:
LUIS GRACIA; ANTONIO SALA; FABRICIO GARELLI
Lugar:
Antibes
Reunión:
Conferencia; IEEE Multi-conference on Systems and Control (MSC2014); 2014
Institución organizadora:
IEEE
Resumen:
This work presents a reactive geometric invariance
method for the coordination of multi-robot systems. Some of
the constraints representing the coordination of the multi-robot
system are defined in terms of robot sensors that are not affected
by the robot kinematics error, e.g., due to miscalibrations
or lack of repeatability, in order to obtain accurate enough
measurements, other constraints are in joint coordinates. Then,
the fulfillment of the constraints is achieved using geometric
invariance and sliding mode control theory. The effectiveness
of the proposed approach is illustrated by 2D simulation results
for two 3R planar robots.
