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Distributed Decision Making and Control for Cooperative Transportation Using Mobile Robots

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Advances in Swarm Intelligence (ICSI 2018)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 10942))

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Abstract

This paper introduces a distributed control scheme tailor-made to the task of letting a swarm of mobile robots push an object through a planar environment. Crucially, there is no centralized control instance or inter-robot hierarchy, and therefore, all decisions are made in a distributed manner. For being able to cooperate, the robots communicate, although the communication sampling time may be several times longer than the control sampling time. Most characteristic for the approach, distributed model predictive controllers are used to achieve a smooth transportation performance with the predicted control errors utilized to plan a suitable object trajectory. Challenging simulation scenarios show the applicability of the approach to the transportation task.

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Author information

Authors and Affiliations

  1. Institute of Engineering and Computational Mechanics, University of Stuttgart, Pfaffenwaldring 9, 70569, Stuttgart, Germany

    Henrik Ebel & Peter Eberhard

Authors
  1. Henrik Ebel
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  2. Peter Eberhard
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Corresponding author

Correspondence to Henrik Ebel .

Editor information

Editors and Affiliations

  1. Peking University, Beijing, China

    Ying Tan

  2. Southern University of Science and Technology, Shenzhen, China

    Yuhui Shi

  3. Tongji University, Shanghai, China

    Qirong Tang

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Ebel, H., Eberhard, P. (2018). Distributed Decision Making and Control for Cooperative Transportation Using Mobile Robots. In: Tan, Y., Shi, Y., Tang, Q. (eds) Advances in Swarm Intelligence. ICSI 2018. Lecture Notes in Computer Science(), vol 10942. Springer, Cham. https://doi.org/10.1007/978-3-319-93818-9_9

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  • DOI: https://doi.org/10.1007/978-3-319-93818-9_9

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-93817-2

  • Online ISBN: 978-3-319-93818-9

  • eBook Packages: Computer ScienceComputer Science (R0)

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