Model second-order motion
The formulation explicitly includes robot position and velocity dynamics.
CCDC · 2021 / COLLABORATIVE CONTROL
Second-Order Cooperative Lifting.
Coordinate positions and dynamics in one optimization.
A continuous-time distributed algorithm for collaborative lifting with second-order robot dynamics.
- Second-order dynamics
- Distributed optimization
- Simulation
01 / OVERVIEW
The idea.
An Optimization Algorithm for Second-order Multi-robot Collaborative Object Lifting
Chinese Control and Decision Conference (CCDC) · 2021
This study considers collaborative lifting by robots with second-order dynamics. A distributed algorithm seeks a feasible optimum while satisfying a coupled equality constraint that limits horizontal force imbalance.
- Local objectives and neighbor communication
- Coupled equality constraints
- Asymptotic convergence analysis
RESEARCH VISUALS · 10 sec
Simulation trajectories.
Animation of the original saved simulation trajectories, rather than a physical robot experiment.
02 / IMPLEMENTATION
How it works.
- Evaluate
Evaluate each robot’s local objective.
- Exchange
Communicate auxiliary information with neighbors.
- Update
Evolve the second-order robot states.
- Converge
Approach the constrained optimum.
Coordinate through local information
The algorithm uses local variables and neighbor communication.
Verify with numerical results
The paper establishes convergence and presents a numerical simulation.
03 / RESOURCES
Read further.
The paper, original demonstrations, and available project materials.