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Conference proceeding
Distributed planar manipulation in fluidic environments
2016 IEEE International Conference on Robotics and Automation (ICRA), v 2016-, pp 5322-5327
May 2016
Featured in Collection : UN Sustainable Development Goals @ Drexel
Abstract
We present a distributed control strategy that enables a swarm of autonomous surface vehicles (ASVs) to cooperatively grasp and manipulate a large floating object from an initial position and orientation to a desired final position and orientation. Given an initial set of random robot positions, our control strategy enables the team to synchronize their arrival times around the object. Analytical motion trajectories are then computed to enable the swarm to transport the object to the final desired position. We validate the proposed strategy in simulation and present experimental results to demonstrate the feasibility of the proposed strategy.
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Details
- Title
- Distributed planar manipulation in fluidic environments
- Creators
- Guillaume Sartoretti - École Polytechnique Fédérale de LausanneSamuel Shaw - Haverford CollegeM. Ani Hsieh - Institute of Robotics and Intelligent SystemsSterling L Shaw - Art and Art History
- Publication Details
- 2016 IEEE International Conference on Robotics and Automation (ICRA), v 2016-, pp 5322-5327
- Publisher
- IEEE
- Resource Type
- Conference proceeding
- Language
- English
- Academic Unit
- Art and Art History
- Web of Science ID
- WOS:000389516204079
- Scopus ID
- 2-s2.0-84977561899
- Other Identifier
- 991019173856404721
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- Collaboration types
- Domestic collaboration
- International collaboration
- Web of Science research areas
- Automation & Control Systems
- Robotics