Since the manipulation tasks for robotic systems become more and more complicated, multi-robot cooperation has been attracting much attention recently. Furthermore, under the trend of human-robot co-existence, collision-free motion control is now also desired on multi-robot groups. This dissertation aims to design a novel distributed optimal control framework to deal with multi-robot cooperative manipulation of rigid objects in dynamic environments. Besides object transportation, the control scheme also tackles obstacle avoidance, joint-space performance optimisation and internal force suppression. The proposed control framework has a two-layer structure, with a distributed optimisation algorithm in the kinematic layer for generating proper joint configuration references, followed by a robot motion controller in the dynamic control layer to fulfil the reference. An indirect and a direct distributed optimisation method are developed for the kinematic layer, both of which are computationally and communicationally efficient. In the dynamic control layer, impedance control is employed for safe physical interaction. As another highlight, abundant experiments carried out on a multi-arm test bench have demonstrated the effectiveness of the presented control schemes under various environmental and task settings. The recorded computation time shows the applicability of the control framework in practice.

This monograph introduces recent developments in formation control of distributed-agent systems. Eschewing the traditional concern with the dynamic characteristics of individual agents, the book proposes a treatment that studies the formation control problem in terms of interactions among agents including factors such as sensing topology, communication and actuation topologies, and computations. Keeping pace with recent technological advancements in control, communications, sensing and computation that have begun to bring the applications of distributed-systems theory out of the industrial sphere and into that of day-to-day life, this monograph provides distributed control algorithms for a group of agents that may behave together. Unlike traditional control laws that usually require measurements with respect to a global coordinate frame and communications between a centralized operation center and agents, this book provides control laws that require only relative measurements and communications between agents without interaction with a centralized operator. Since the control algorithms presented in this book do not require any global sensing and any information exchanges with a centralized operation center, they can be realized in a fully distributed way, which significantly reduces the operation and implementation costs of a group of agents. Formation Control will give both students and researchers interested in pursuing this field a good grounding on which to base their work.

It has long been the goal of engineers to develop tools that enhance our ability to do work, increase our quality of life, or perform tasks that are either beyond our ability, too hazardous, or too tedious to be left to human efforts. Autonomous mobile robots are the culmination of decades of research and development, and their potential is seemingly unlimited. Roadmap to the Future Serving as the first comprehensive reference on this interdisciplinary technology, Autonomous Mobile Robots: Sensing, Control, Decision Making, and Applications authoritatively addresses the theoretical, technical, and practical aspects of the field. The book examines in detail the key components that form an autonomous mobile robot, from sensors and sensor fusion to modeling and control, map building and path planning, and decision making and autonomy, and to the final integration of these components for diversified applications. Trusted Guidance A duo of accomplished experts leads a team of renowned international researchers and professionals who provide detailed technical reviews and the latest solutions to a variety of important problems. They share hard-won insight into the practical implementation and integration issues involved in developing autonomous and open robotic systems, along with in-depth examples, current and future applications, and extensive illustrations. For anyone involved in researching, designing, or deploying autonomous robotic systems, Autonomous Mobile Robots is the perfect resource.

In this book, the authors focus on three aspects related to the development of articulated agents: presenting an overview of high-level control algorithms for intelligent decision-making of articulated agents, experimental study of the properties of soft agents as the end-effector of articulated agents, and accurate management of low-level torque-control loop to accurately control the articulated agents. This book summarizes recent advances related to articulated agents. The motive behind the book is to trigger theoretical and practical research studies related to articulated agents.

Embark on an Enlightening Journey to "Mastering Robot Dynamics" In a world driven by automation and robotics, mastering the intricacies of robot dynamics is pivotal for creating advanced robotic systems that move with precision and intelligence. "Mastering Robot Dynamics" is your ultimate guide to navigating the complex world of robot motion, control, and manipulation. Whether you're an engineer, researcher, robotics enthusiast, or student, this book equips you with the knowledge and skills needed to excel in designing and controlling sophisticated robotic mechanisms. About the Book: "Mastering Robot Dynamics" takes you on a transformative journey through the intricacies of robot motion and control, from foundational concepts to advanced techniques. From kinematics and dynamics to trajectory planning and real-time control, this book covers it all. Each chapter is meticulously designed to provide both a deep understanding of the principles and practical applications in real-world robotic scenarios. Key Features: · Foundational Understanding: Build a solid foundation by comprehending the core principles of robot dynamics, including kinematics, inertia, and motion equations. · Robot Kinematics: Explore forward and inverse kinematics, understanding how robots move and calculating joint configurations. · Robot Dynamics: Dive into the study of forces, torques, and motion equations, learning how robots interact with their environments. · Trajectory Planning: Master the art of planning robot paths and trajectories, considering constraints and optimizing motion sequences. · Sensors and Perception: Gain insights into sensor integration, perception systems, and how robots interact with the world through feedback. · Motion Control: Learn about different types of control strategies, from PID control to advanced techniques like model predictive control. · Collision Avoidance: Understand methods for detecting and avoiding collisions, ensuring safety and reliability in robot operations. · Robot Manipulation: Explore techniques for manipulating objects, including grasp planning, manipulation tasks, and robotic arms. · Challenges and Trends: Discover challenges in robot dynamics, from sensor noise to complex control algorithms, and explore emerging trends shaping the future of robotics. Who This Book Is For: "Mastering Robot Dynamics" is designed for engineers, researchers, robotics enthusiasts, students, and anyone passionate about robotics. Whether you're aiming to enhance your skills or embark on a journey toward becoming a robotics expert, this book provides the insights and tools to navigate the complexities of designing and controlling robotic systems. © 2023 Cybellium Ltd. All rights reserved. www.cybellium.com

Studies on robotics applications have grown substantially in recent years, with swarm robotics being a relatively new area of research. Inspired by studies in swarm intelligence and robotics, swarm robotics facilitates interactions between robots as well as their interactions with the environment. The Handbook of Research on Design, Control, and Modeling of Swarm Robotics is a collection of the most important research achievements in swarm robotics thus far, covering the growing areas of design, control, and modeling of swarm robotics. This handbook serves as an essential resource for researchers, engineers, graduates, and senior undergraduates with interests in swarm robotics and its applications.

This is the first book to focus on solving cooperative control problems of multiple robot arms using different centralized or distributed neural network models, presenting methods and algorithms together with the corresponding theoretical analysis and simulated examples. It is intended for graduate students and academic and industrial researchers in the field of control, robotics, neural networks, simulation and modelling.