Optimization of potential field method parameters through networks for swarm cooperative manipulation tasks
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A decentralized approach for cooperative mobile manipulation of I-AUVs based on Artificial Neural Networks (ANNs) is proposed in this article, and this new strategy has been implemented in the simulation environment, simulating the transportation of an object.Abstract:
An interesting current research field related to autonomous robots is mobile manipulation performed by cooperating robots (in terrestrial, aerial and underwater environments). Focusing on the underwater scenario, cooperative manipulation of Intervention-Autonomous Underwater Vehicles (I-AUVs) is a complex and difficult application compared with the terrestrial or aerial ones because of many technical issues, such as underwater localization and limited communication. A decentralized approach for cooperative mobile manipulation of I-AUVs based on Artificial Neural Networks (ANNs) is proposed in this article. This strategy exploits the potential field method; a multi-layer control structure is developed to manage the coordination of the swarm, the guidance and navigation of I-AUVs and the manipulation task. In the article, this new strategy has been implemented in the simulation environment, simulating the transportation of an object. This object is moved along a desired trajectory in an unknown environment ...read more
Citations
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Journal ArticleDOI
Heading Control of Unmanned Marine Vehicles Based on an Improved Robust Adaptive Fuzzy Neural Network Control Algorithm
TL;DR: Stability of the designed RAFNNC algorithm for the heading control of the UMV in the presence of complex marine environment disturbance is proved by the Lyapunov stability theory, and the effectiveness and accuracy of the control algorithm proposed are verified by semi-physical simulation experiment carried out in the laboratory.
Journal ArticleDOI
Cooperative Impedance Control for Multiple Underwater Vehicle Manipulator Systems Under Lean Communication
Shahab Heshmati-alamdari,Charalampos P. Bechlioulis,George C. Karras,Kostas J. Kyriakopoulos +3 more
TL;DR: A novel distributed leader–follower architecture is proposed, where the leading UVMS, which has knowledge of the object's desired trajectory, tries to achieve the desired tracking behavior via an impedance control law, navigating in this way, the overall formation toward the goal configuration while avoiding collisions with the obstacles.
Proceedings ArticleDOI
A Distributed Predictive Control Approach for Cooperative Manipulation of Multiple Underwater Vehicle Manipulator Systems
TL;DR: This paper addresses the problem of cooperative object transportation for multiple Underwater Vehicle Manipulator Systems (UVMSs) in a constrained workspace involving static obstacles by exploiting the coupled dynamics between the robots and the object, and using certain load sharing coefficients.
Proceedings ArticleDOI
Adaptive formation control of robot swarms using optimized potential field method
TL;DR: An adaptive formation control algorithm for robot swarm based on the Potential Field Method is presented, which has three tasks, to keep robot swarm in a particular formation, avoid collision with obstacles in the environment and track a certain trajectory.
Proceedings ArticleDOI
Decentralized Impedance Control for Cooperative Manipulation of Multiple Underwater Vehicle Manipulator Systems under Lean Communication
Shahab Heshmati-alamdari,Charalampos P. Bechlioulis,George C. Karras,Kostas J. Kyriakopoulos +3 more
TL;DR: In this paper, the authors propose a distributed leader-follower architecture, where the leading UAV tries to achieve the desired tracking behavior via an impedance control law, navigating in this way, the overall formation towards the goal configuration while avoiding collisions with the obstacles.
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