Multi-target Optimal Control Problems for a Tentacle-like Soft Manipulator

Simone Cacace; Anna Chiara Lai; Paola Loreti

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Paper

Multi-target Optimal Control Problems for a Tentacle-like Soft Manipulator

Topics: Distributed Control Systems; Optimization Algorithms

In Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics ICINCO - Volume 1, 39-48, 2021

Authors: Simone Cacace ¹ ; Anna Chiara Lai ² and Paola Loreti ²

Affiliations: ¹ Dipartimento di Matematica e Fisica, Università degli Studi Roma Tre, Largo S. Murialdo, 1, 00154 Roma, Italy ; ² Dipartimento di Scienze di Base e Applicate per l’Ingegneria, Sapienza Università di Roma, Via A. Scarpa, 16, 00161 Roma, Italy

Keyword(s): Soft Manipulators, Control Strategies, Reachability, Multi-target Problems, Optimal Control.

Abstract: We investigate the optimality of the configurations of a tentacle-like soft manipulator ensuring the contact with a target object, while avoiding an obstacle. The main novelty consists in treating the contact sub-region of the manipulator as an unknown of the problem and, at the same time, in allowing the target to be disconnected. We set the optimization problem in full generality, then we focus on the case of a multi-target problem, in which the goal is to simultaneously reach a finite set of points. Numerical simulations complete the paper.

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Paper citation in several formats:

Cacace, S.; Lai, A. and Loreti, P. (2021). Multi-target Optimal Control Problems for a Tentacle-like Soft Manipulator. In Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - ICINCO; ISBN 978-989-758-522-7; ISSN 2184-2809, SciTePress, pages 39-48. DOI: 10.5220/0010533400390048

@conference{icinco21,
author={Simone Cacace. and Anna Chiara Lai. and Paola Loreti.},
title={Multi-target Optimal Control Problems for a Tentacle-like Soft Manipulator},
booktitle={Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - ICINCO},
year={2021},
pages={39-48},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010533400390048},
isbn={978-989-758-522-7},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - ICINCO
TI - Multi-target Optimal Control Problems for a Tentacle-like Soft Manipulator
SN - 978-989-758-522-7
IS - 2184-2809
AU - Cacace, S.
AU - Lai, A.
AU - Loreti, P.
PY - 2021
SP - 39
EP - 48
DO - 10.5220/0010533400390048
PB - SciTePress