Cooperative load transport: a formation-control perspective

Authors:
He Bai;John T. Wen
Affiliations:
Department of Mechanical Engineering, Northwestern University, Evanston, IL;Department of Electrical, Computer, and Systems Engineering, Rensselaer Polytechnic Institute, Troy, NY
Venue:
IEEE Transactions on Robotics
Year:
2010

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Abstract

We consider a group of agents collaboratively transporting a flexible payload. The contact forces between the agents and the payload are modeled as gradients of nonlinear potentials that describe the deformations of the payload. The load-transport problem is then treated in a similar fashion to the formation-control problem. Decentralized control laws are developed such that without explicit communication, the agents and the payload converge to the same constant velocity; meanwhile, the contact forces are regulated. Experimental results illustrate the effectiveness of our designs.