| 1. |
- Marzinotto, Alejandro, et al.
(author)
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Cooperative grasping through topological object representation
- 2015
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In: IEEE-RAS International Conference on Humanoid Robots. - : IEEE Computer Society. - 9781479971749 ; , s. 685-692
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Conference paper (peer-reviewed)abstract
- We present a cooperative grasping approach based on a topological representation of objects. Using point cloud data we extract loops on objects suitable for generating entanglement. We use the Gauss Linking Integral to derive controllers for multi-agent systems that generate hooking grasps on such loops while minimizing the entanglement between robots. The approach copes well with noisy point cloud data, it is computationally simple and robust. We demonstrate the method for performing object grasping and transportation, through a hooking maneuver, with two coordinated NAO robots.
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| 2. |
- Teixeira, Pedro V, et al.
(author)
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Event-based motion coordination of multiple underwater vehicles under disturbances
- 2010
-
Conference paper (peer-reviewed)abstract
- The problem of driving a formation from an initial to a target configuration while under the effect of external disturbances is studied. Additional restrictions on agent sensing as well as inter-agent communication must be satisfied. We present a leader-follower solution that relies on a simple uncertainty model to trigger surfacing events. These events are then used to update the control signal, for which two different, provably correct, control strategies are proposed. Finally, we show how the surfacing events can be used to characterize the disturbance set. Numerical examples on relevant scenarios are also provided.
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| 3. |
- Teixeira, Pedro V., et al.
(author)
-
Multi-agent coordination with event-based communication
- 2010
-
In: Proceedings of the American Control Conference. - : IEEE. - 9781424474264 ; , s. 824-829
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Conference paper (peer-reviewed)abstract
- The problem of driving a set of vehicles (agents) to a desired target configuration under event-based communication and measurement constraints is analyzed. We start by studying the single agent problem, where we propose a waypoint based solution, along with two alternative control strategies. After deriving their properties and proving some relevant results, we proceed to study the two agent case. We generalize the results obtained for this network to the multi agent network. Our strategy is able to position each agent within a given distance of its target while satisfying the constraints. We provide some numerical examples for relevant scenarios.
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| 4. |
- Adaldo, Antonio, et al.
(author)
-
Cloud-supported effective coverage of 3D structures
- 2018
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In: 2018 European Control Conference, ECC 2018. - : Institute of Electrical and Electronics Engineers (IEEE). - 9783952426982 ; , s. 95-100
-
Conference paper (peer-reviewed)abstract
- In this paper, we present a distributed algorithm for cloud-supported effective coverage of 3D structures with a network of sensing agents. The structure to inspect is abstracted into a set of landmarks, where each landmark represents a point or small area of interest, and incorporates information about position and orientation. The agents navigate the environment following the proposed control algorithm until all landmarks have reached a satisfactory level of coverage. The agents do not communicate with each other directly, but exchange data through a shared cloud repository which is accessed asynchronously and intermittently. We show formally that, under the proposed control architecture, the networked agents complete the coverage mission in finite time. The results are corroborated by simulations in ROS, and experimental evaluation is in progress.
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| 5. |
- Adaldo, Antonio, et al.
(author)
-
Cloud-Supported Formation Control of Second-Order Multiagent Systems
- 2018
-
In: IEEE Transactions on Control of Network Systems. - : IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC. - 2325-5870. ; 5:4, s. 1563-1574
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Journal article (peer-reviewed)abstract
- This paper addresses a formation problem for a network of autonomous agents with second-order dynamics and bounded disturbances. Coordination is achieved by having the agents asynchronously upload (download) data to (from) a shared repository, rather than directly exchanging data with other agents. Well-posedness of the closed-loop system is demonstrated by showing that there exists a lower bound for the time interval between two consecutive agent accesses to the repository. Numerical simulations corroborate the theoretical results.
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| 6. |
- Adaldo, Antonio, 1989-, et al.
(author)
-
Control of Multi-Agent Systems with Event-Triggered Cloud Access
- 2015
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In: Proceedings of the 14th annual European Control Conference. - : IEEE. - 9783952426937 ; , s. 954-961
-
Conference paper (peer-reviewed)abstract
- This paper investigates a multi-agent formation control problem with event-triggered control updates and additive disturbances. The agents communicate only by exchanging information in a cloud repository. The communication with the cloud is considered a shared and limited resource, and therefore it is used intermittently and asynchronously by the agents. The proposed approach takes advantage of having a shared asynchronous cloud support while guaranteeing a reduced number of communication. More in detail, each agent schedules its own sequence of cloud accesses in order to achieve a coordinated network goal. A control law is given with a criterion for scheduling the control updates recursively. The closed loop scheme is proven to be effective in achieving the control objective and a numerical simulation corroborates the theoretical results.
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| 7. |
- Adaldo, Antonio, et al.
(author)
-
Cooperative coverage for surveillance of 3D structures
- 2017
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In: IEEE International Conference on Intelligent Robots and Systems. - Piscataway, NJ : Institute of Electrical and Electronics Engineers (IEEE). - 9781538626825 ; , s. 1838-1845
-
Conference paper (peer-reviewed)abstract
- In this article, we propose a planning algorithm for coverage of complex structures with a network of robotic sensing agents, with multi-robot surveillance missions as our main motivating application. The sensors are deployed to monitor the external surface of a 3D structure. The algorithm controls the motion of each sensor so that a measure of the collective coverage attained by the network is nondecreasing, while the sensors converge to an equilibrium configuration. A modified version of the algorithm is also provided to introduce collision avoidance properties. The effectiveness of the algorithm is demonstrated in a simulation and validated experimentally by executing the planned paths on an aerial robot.
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| 8. |
- Adaldo, Antonio, et al.
(author)
-
Coordination of multi-agent systems with intermittent access to a cloud repository
- 2017
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In: Workshop on Sensing and Control for Autonomous Vehicles. - Cham : Springer. - 9783319553719 ; , s. 453-471
-
Conference paper (peer-reviewed)abstract
- A cloud-supported multi-agent system is composed of autonomous agents required to achieve a common coordination objective by exchanging data over a shared cloud repository. The repository is accessed asychronously by different agents, and direct inter-agent commuication is not possible. This model is motivated by the problem of coordinating a fleet of autonomous underwater vehicles, with the aim to avoid the use of expensive and power-hungry modems for underwater communication. For the case of agents with integrator dynamics, a control law and a rule for scheduling the cloud access are formally defined and proven to achieve the desired coordination. A numerical simulation corroborate the theoretical results.
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| 9. |
- Adaldo, Antonio, 1989-, et al.
(author)
-
Event-triggered pinning control of complex networks with switching topologies
- 2014
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In: Proceedings of the 53rd annual IEEE Conference on Decision and Control. - 9781479977468 ; , s. 2783-2788
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Conference paper (peer-reviewed)abstract
- This paper investigates the problem of eventtriggered pinning control for the synchronization of networks of nonlinear dynamical agents onto a desired reference trajectory. The pinned agents are those that have access to the reference trajectory. We consider both static and switching topologies. We prove that the system is well posed and identify conditions under which the network achieves exponential convergence. A lower bound for the rate of convergence is also derived. Numerical examples demonstrating the effectiveness of the results are provided.
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| 10. |
- Adaldo, Antonio, 1989-, et al.
(author)
-
Event-Triggered Pinning Control of Switching Networks
- 2015
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In: IEEE Transactions on Control of Network Systems. - 2325-5870. ; 2:2, s. 204-213
-
Journal article (peer-reviewed)abstract
- This paper investigates event-triggered pinning control for the synchronization of complex networks of nonlinear dynamical systems. We consider networks described by time-varying weighted graphs and featuring generic linear interaction protocols. Sufficient conditions for the absence of Zeno behavior are derived and exponential convergence of a global normed error function is proven. Static networks are considered as a special case, wherein the existence of a lower bound for interevent times is also proven. Numerical examples demonstrate the effectiveness of the proposed control strategy.
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