A Hybrid Multirobot Control Architecture for Object Transport

A hybrid force/position control architecture for object transportation by a mobile robot formation is introduced. The architecture consists of an object level controller that computes actuation forces/torques to push an object along a desired path. These desired forces/torques are provided to a multirobot actuation subsystem that uses a closed-loop hybrid force/position controller to generate commands for individual robots within the subsystem. Accordingly, these robots apply the required net force and torque to the object while also maintaining relative positions with respect to themselves and to the object, thereby ensuring stable motion and efficient torque generation. This novel use of a hybrid controller for the mobile multirobot cluster prevents large environmental forces on the object. Furthermore, abstraction of the cluster as an actuator enhances flexibility, making design of the object controller independent of the number, location, and maneuverability of individual robots. The architecture is validated experimentally.

[1]  Oussama Khatib,et al.  A unified approach for motion and force control of robot manipulators: The operational space formulation , 1987, IEEE J. Robotics Autom..

[2]  Christopher Kitts,et al.  Object Manipulation Using Cooperative Mobile Multi-Robot Systems , 2012 .

[3]  Radhika Nagpal,et al.  Collective transport of complex objects by simple robots: theory and experiments , 2013, AAMAS.

[4]  Vijay Kumar,et al.  Decentralized Algorithms for Multi-Robot Manipulation via Caging , 2004, Int. J. Robotics Res..

[5]  Russell G. Brown,et al.  A pusher/steerer model for strongly cooperative mobile robot manipulation , 1995, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots.

[6]  Tianmiao Wang,et al.  Cooperative box-pushing with multiple autonomous robotic fish in underwater environment , 2011 .

[7]  Vijay Kumar,et al.  A potential field based approach to multi-robot manipulation , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[8]  Paul Mahacek,et al.  Dynamic Guarding of Marine Assets Through Cluster Control of Automated Surface Vessel Fleets , 2012, IEEE/ASME Transactions on Mechatronics.

[9]  V. Krovi,et al.  Screw-theoretic analysis framework for cooperative payload transport by mobile manipulator collectives , 2006, IEEE/ASME Transactions on Mechatronics.

[10]  C. Kitts,et al.  Object Manipulation through Explicit Force Control Using Cooperative Mobile Multi-Robot Systems , 2022 .

[11]  Christopher Kitts,et al.  Field operation of a robotic small waterplane area twin hull boat for shallow‐water bathymetric characterization , 2012, J. Field Robotics.

[12]  Mo-Yuen Chow,et al.  Guest Editorial Introduction to the Focused Section on Mechatronics in Multirobot Systems , 2009 .

[13]  Vijay Kumar,et al.  Cooperative Grasping and Transport Using Multiple Quadrotors , 2010, DARS.

[14]  I. Mas,et al.  Obstacle Avoidance Policies for Cluster Space Control of Nonholonomic Multirobot Systems , 2012, IEEE/ASME Transactions on Mechatronics.

[15]  Christopher Kitts,et al.  Error characterization in the vicinity of singularities in multi-robot cluster space control , 2009, 2008 IEEE International Conference on Robotics and Biomimetics.

[16]  Bruce Randall Donald,et al.  Moving furniture with teams of autonomous robots , 1995, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots.

[17]  Vijay Kumar,et al.  Cooperative manipulation and transportation with aerial robots , 2009, Auton. Robots.

[18]  Kazuhiro Kosuge,et al.  Decentralized Cooperative Object Transportation by Multiple Mobile Robots with a Pushing Leader , 2004, DARS.

[19]  I. Mas,et al.  Cluster Space Specification and Control of Mobile Multirobot Systems , 2009, IEEE/ASME Transactions on Mechatronics.

[20]  Christopher Kitts,et al.  Dynamic Control of Mobile Multirobot Systems: The Cluster Space Formulation , 2014, IEEE Access.

[21]  Martin Nilsson,et al.  Cooperative multi-robot box-pushing , 1995, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots.

[22]  Terrance L. Huntsberger,et al.  Behavior-based multi-robot collaboration for autonomous construction tasks , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[23]  Oussama Khatib,et al.  Vehicle/arm coordination and multiple mobile manipulator decentralized cooperation , 1996, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96.

[24]  Joel M. Esposito,et al.  Comprehensive framework for tracking control and thrust allocation for a highly overactuated autonomous surface vessel , 2011, J. Field Robotics.

[25]  Joel M. Esposito,et al.  Cooperative manipulation on the water using a swarm of autonomous tugboats , 2008, 2008 IEEE International Conference on Robotics and Automation.

[26]  Dong Sun,et al.  Manipulating rigid payloads with multiple robots using compliant grippers , 2002 .

[27]  Christopher Kitts,et al.  Field Operation of a Robotic SWATH Boat for Shallow-Water Bathymetric Characterization , 2012 .

[28]  Thomas Adamek,et al.  Gradient-Based Cluster Space Navigation for Autonomous Surface Vessels , 2015, IEEE/ASME Transactions on Mechatronics.