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• W2890159875 abstract "This paper presents a design for a decentralized adaptive controller that allows a team of agents to manipulate a common payload in $mathbb{R}^{2}$ or $mathbb{R}^{3}$. The controller requires no communication between agents and requires no a priori knowledge of agent positions or payload properties. The agents can control the payload to track a reference trajectory in linear and angular velocity with center-of-mass measurements, in angular velocity using only local measurements and a common frame, and can stabilize its rotation with only local measurements. The controller is designed via a Lyapunov-style analysis and has proven stability and convergence. The controller is validated in simulation and experimentally with four robots manipulating an object in the plane." @default.
• W2890159875 created "2018-09-27" @default.
• W2890159875 creator A5006569343 @default.
• W2890159875 creator A5081950488 @default.
• W2890159875 date "2018-05-01" @default.
• W2890159875 modified "2023-10-10" @default.
• W2890159875 title "Decentralized Adaptive Control for Collaborative Manipulation" @default.
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• W2890159875 doi "https://doi.org/10.1109/icra.2018.8461263" @default.
• W2890159875 hasPublicationYear "2018" @default.
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