FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W4322124312> ?p ?o ?g. }

• W4322124312 endingPage "110941" @default.
• W4322124312 startingPage "110941" @default.
• W4322124312 abstract "In this paper, we propose an inverse-kinematics controller for a class of multi-robot systems in the scenario of sampled communication. The goal is to make a group of robots perform trajectory tracking in a coordinated way when the sampling time of communications is much larger than the sampling time of low-level controllers, disrupting theoretical convergence guarantees of standard control design in continuous time. Given a desired trajectory in configuration space which is pre-computed offline, the proposed controller receives configuration measurements, possibly via wireless, to re-compute velocity references for the robots, which are tracked by a low-level controller. We propose joint design of a sampled proportional feedback plus a novel continuous-time feedforward that linearizes the dynamics around the reference trajectory: this method is amenable to distributed communication implementation where only one broadcast transmission is needed per sample. Also, we provide closed-form expressions for instability and stability regions and convergence rate in terms of proportional gain k and sampling period T. We test the proposed control strategy via numerical simulations in the scenario of cooperative aerial manipulation of a cable-suspended load using a realistic simulator (Fly-Crane). Finally, we compare our proposed controller with centralized approaches that adapt the feedback gain online through smart heuristics, and show that it achieves comparable performance." @default.
• W4322124312 created "2023-02-26" @default.
• W4322124312 creator A5001771133 @default.
• W4322124312 creator A5026415911 @default.
• W4322124312 creator A5043137857 @default.
• W4322124312 creator A5043731055 @default.
• W4322124312 creator A5043889977 @default.
• W4322124312 creator A5073142247 @default.
• W4322124312 creator A5089846134 @default.
• W4322124312 date "2023-05-01" @default.
• W4322124312 modified "2023-10-02" @default.
• W4322124312 title "Coordinated multi-robot trajectory tracking control over sampled communication" @default.
• W4322124312 cites W1135555303 @default.
• W4322124312 cites W1980392184 @default.
• W4322124312 cites W1993693205 @default.
• W4322124312 cites W2012807278 @default.
• W4322124312 cites W2013853151 @default.
• W4322124312 cites W2015160759 @default.
• W4322124312 cites W2046178935 @default.
• W4322124312 cites W2103451132 @default.
• W4322124312 cites W2109656638 @default.
• W4322124312 cites W2169130436 @default.
• W4322124312 cites W2172188558 @default.
• W4322124312 cites W2259070689 @default.
• W4322124312 cites W2293933487 @default.
• W4322124312 cites W2295546444 @default.
• W4322124312 cites W2295847848 @default.
• W4322124312 cites W2342511487 @default.
• W4322124312 cites W2524437357 @default.
• W4322124312 cites W2562901529 @default.
• W4322124312 cites W2566883285 @default.
• W4322124312 cites W2775110590 @default.
• W4322124312 cites W2790810617 @default.
• W4322124312 cites W2794235589 @default.
• W4322124312 cites W2962959857 @default.
• W4322124312 cites W2963512822 @default.
• W4322124312 cites W2966594444 @default.
• W4322124312 cites W2983501156 @default.
• W4322124312 cites W3003197188 @default.
• W4322124312 cites W3008038390 @default.
• W4322124312 cites W3033733922 @default.
• W4322124312 cites W4285603480 @default.
• W4322124312 doi "https://doi.org/10.1016/j.automatica.2023.110941" @default.
• W4322124312 hasPublicationYear "2023" @default.
• W4322124312 type Work @default.
• W4322124312 citedByCount "0" @default.
• W4322124312 crossrefType "journal-article" @default.
• W4322124312 hasAuthorship W4322124312A5001771133 @default.
• W4322124312 hasAuthorship W4322124312A5026415911 @default.
• W4322124312 hasAuthorship W4322124312A5043137857 @default.
• W4322124312 hasAuthorship W4322124312A5043731055 @default.
• W4322124312 hasAuthorship W4322124312A5043889977 @default.
• W4322124312 hasAuthorship W4322124312A5073142247 @default.
• W4322124312 hasAuthorship W4322124312A5089846134 @default.
• W4322124312 hasBestOaLocation W43221243121 @default.
• W4322124312 hasConcept C106131492 @default.
• W4322124312 hasConcept C111919701 @default.
• W4322124312 hasConcept C112972136 @default.
• W4322124312 hasConcept C119857082 @default.
• W4322124312 hasConcept C121332964 @default.
• W4322124312 hasConcept C127413603 @default.
• W4322124312 hasConcept C1276947 @default.
• W4322124312 hasConcept C127705205 @default.
• W4322124312 hasConcept C133731056 @default.
• W4322124312 hasConcept C13662910 @default.
• W4322124312 hasConcept C140779682 @default.
• W4322124312 hasConcept C154945302 @default.
• W4322124312 hasConcept C162324750 @default.
• W4322124312 hasConcept C17816587 @default.
• W4322124312 hasConcept C187523126 @default.
• W4322124312 hasConcept C203479927 @default.
• W4322124312 hasConcept C2775924081 @default.
• W4322124312 hasConcept C2777303404 @default.
• W4322124312 hasConcept C31972630 @default.
• W4322124312 hasConcept C38858127 @default.
• W4322124312 hasConcept C39920418 @default.
• W4322124312 hasConcept C41008148 @default.
• W4322124312 hasConcept C47446073 @default.
• W4322124312 hasConcept C50522688 @default.
• W4322124312 hasConcept C6557445 @default.
• W4322124312 hasConcept C74650414 @default.
• W4322124312 hasConcept C86803240 @default.
• W4322124312 hasConcept C90509273 @default.
• W4322124312 hasConceptScore W4322124312C106131492 @default.
• W4322124312 hasConceptScore W4322124312C111919701 @default.
• W4322124312 hasConceptScore W4322124312C112972136 @default.
• W4322124312 hasConceptScore W4322124312C119857082 @default.
• W4322124312 hasConceptScore W4322124312C121332964 @default.
• W4322124312 hasConceptScore W4322124312C127413603 @default.
• W4322124312 hasConceptScore W4322124312C1276947 @default.
• W4322124312 hasConceptScore W4322124312C127705205 @default.
• W4322124312 hasConceptScore W4322124312C133731056 @default.
• W4322124312 hasConceptScore W4322124312C13662910 @default.
• W4322124312 hasConceptScore W4322124312C140779682 @default.
• W4322124312 hasConceptScore W4322124312C154945302 @default.
• W4322124312 hasConceptScore W4322124312C162324750 @default.
• W4322124312 hasConceptScore W4322124312C17816587 @default.
• W4322124312 hasConceptScore W4322124312C187523126 @default.

• next