A Study on Force-Based Collaboration in Flying Swarms

Gabellieri, Chiara; Tognon, Marco; Pallottino, Lucia; Franchi, Antonio

doi:10.1007/978-3-030-00533-7_1

Cited by 9 publications

(14 citation statements)

References 24 publications

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“…Since the extension of analytic results to a swarm composed by an arbitrary number of robots, although very interesting, is not trivial (Abbasnejad and Carricato, 2015), in Gabellieri et al (2018) a numerical study for this more general case is proposed. More specifically, Gabellieri et al (2018) highlight the role of the internal forces in the convergence to a single configuration of equilibrium and in accelerating the convergence rate.…”

Section: Related Workmentioning

confidence: 99%

A study on force-based collaboration in swarms

et al. 2019

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Cooperative manipulation is a basic skill in groups of humans, animals, and in many robotic applications. Besides being an interesting challenge, communication-less approaches have been applied to groups of robots in order to achieve higher scalability and simpler hardware and software design. We present a generic model and control law for robots cooperatively manipulating an object, for both ground and floating systems. The control method exploits a leader-follower scheme and is based only on implicit communication (i.e., the sensing of contact forces). The control objective mainly consists of steering the object manipulated by the swarm of robots to a desired position and orientation in a cooperative way. For a system with just one leader, we present analytical results on the equilibrium configurations and their stability that are then validated by numerical simulations. The role of object internal forces (induced by the robots through contact forces) is discussed in terms of convergence of the object position and orientation to the desired values. We also present a discussion on additional properties of the controlled system that were investigated using thorough numerical analysis, namely, the robustness of the system when the object is subject to external disturbances in non-ideal conditions, and how the number of leaders in the swarm can affect the aforementioned convergence and robustness.

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Section: Related Workmentioning

confidence: 99%

A study on force-based collaboration in swarms

et al. 2019

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“…A subject of great interest currently in the ACTS field is the implementation of decentralized control where the payload is transported by the collective action of multiple quadrotors without explicit communication between each agent. This has been studied for rigid connections [2], and for cable attachments using onboard camera [4] or using either observer or sensor derived tension sensing [13,14] where the stability is shown to relate to the internal forces in the body being transported. In all these works the wrench feasibility and stability of the ACTS is considered, but to the authors' best knowledge there is no systematic quantification of the degree of wrench feasibility nor generic methodology for mapping the extensive wrench set in task space.…”

Section: Introductionmentioning

confidence: 99%

Wrench Analysis of Cable-Suspended Parallel Robots Actuated by Quadrotor Unmanned Aerial Vehicles

Erskine

Chriette

Caro

2019

Journal of Mechanisms and Robotics

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Aerial cable towed systems (ACTSs) can be created by joining unmanned aerial vehicles (UAVs) to a payload to extend the capabilities of the system beyond those of an individual UAV. This paper describes a systematic method for evaluating the available wrench set and the robustness of equilibrium of ACTSs by adapting wrench analysis techniques used in traditional cable-driven parallel robots to account for the constraints of quadrotor actuation and dynamics. Case studies and experimental results are provided to demonstrate the analysis of different classes of ACTSs, as a means of evaluating the design and operating configurations.

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“…The main contributions come from the properties of the proposed design approach. The system is guaranteed to be locally asymptotically stable toward a desired state set using very little system information, unlike similar approaches like the ones in other works . The algorithm in its minimum expression only requires the velocity information of each vehicle, which makes this an attractive option for a fail‐safe strategy in cooperative control schemes.…”

Section: Introductionmentioning

confidence: 99%

“…The system is guaranteed to be locally asymptotically stable toward a desired state set using very little system information, unlike similar approaches like the ones in other works. [34][35][36][37] The algorithm in its minimum expression only requires the velocity information of each vehicle, which makes this an attractive option for a fail-safe strategy in cooperative control schemes. Like the works of Guerrero et al 38 and Valk and Keviczky, 39 the proposed approach is based on passivity, which adds robustness to the system by modifying the point of minimal mechanical energy.…”

Section: Introductionmentioning

confidence: 99%

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Two PVTOLs cooperative slung‐load transport control based on passivity

2019

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This work addresses the problem of two unmanned aerial vehicles (UAVs) transporting a slung‐load on a plane. The vehicles presented are a simplified version of the classical planar vertical take‐off and landing (PVTOL). The proposed solution implements a decentralized control scheme based on the concept of passivity where there is no explicit communication between agents. This is accomplished by taking advantage of the physical connection between the agents and the load. In contrast with similar control algorithms based on force control, like impedance filters, the objective is to drive the system into a state of minimal energy. In addition to this, the presented control strategy differs from other passivity based methods, like an interconnection and damping assignment passivity‐based control, in that the method can also be used to accommodate more complex control strategies that do not necessarily depend on the energy of the system.

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A Study on Force-Based Collaboration in Flying Swarms

Cited by 9 publications

References 24 publications

A study on force-based collaboration in swarms

A study on force-based collaboration in swarms

Wrench Analysis of Cable-Suspended Parallel Robots Actuated by Quadrotor Unmanned Aerial Vehicles

Two PVTOLs cooperative slung‐load transport control based on passivity

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