In multi-robot systems passive interconnections among agents are often exploited to achieve a desired and robustly stable cooperative behavior. Nevertheless, the passivity constraint limits the kinds of behaviors that can be achieved. In this paper, we exploit the concept of energy tank for building a novel generalized interconnection that allows to impose any kind of dynamic coupling between two passive systems in a flexible way while preserving the passivity of the overall coupled system. The proposed strategy is validated by simulations and experiments.
On the Use of Energy Tanks for Multi-Robot Interconnection / Riggio, Giuseppe; Fantuzzi, Cesare; Secchi, Cristian. - (2018), pp. 3738-3743. (Intervento presentato al convegno 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 tenutosi a Madrid Municipal Conference Centre, esp nel 2018) [10.1109/IROS.2018.8594262].
On the Use of Energy Tanks for Multi-Robot Interconnection
Riggio, Giuseppe;Fantuzzi, Cesare;Secchi, Cristian
2018
Abstract
In multi-robot systems passive interconnections among agents are often exploited to achieve a desired and robustly stable cooperative behavior. Nevertheless, the passivity constraint limits the kinds of behaviors that can be achieved. In this paper, we exploit the concept of energy tank for building a novel generalized interconnection that allows to impose any kind of dynamic coupling between two passive systems in a flexible way while preserving the passivity of the overall coupled system. The proposed strategy is validated by simulations and experiments.
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