Problem
Research questions and friction points this paper is trying to address.
obstacle localization
cooperative transport
leader-follower
aggregate wrench
communication-free
Communication-Free Obstacle Localization from Aggregate Wrench Measurements in Leader--Follower Cooperative Transport
🤖 AI Summary
This study addresses the challenge of precisely localizing obstacles and identifying responsive robots in communication-free cooperative transportation using only wrench measurements. To this end, it proposes a follower control law that establishes a piecewise linear mapping between velocity and wrench. By integrating an adaptive probing procedure with wrench observation, the method exploits regional variations in this mapping to inversely infer the bearing and distance of obstacles, which subsequently guides motion planning. The primary contribution lies in achieving accurate obstacle localization without explicit inter-robot communication. Simulation results validate the effectiveness of the proposed approach under fixed configurations, offering a novel paradigm for communication-free multi-robot cooperative obstacle avoidance.
📝 Abstract
We consider obstacle localization for a team of robots cooperatively transporting a rigid payload without explicit inter-robot communication. A leader robot directs the payload's motion, while follower robots assist and react to locally detected obstacles. The leader measures the followers' aggregate wrench, i.e., the combined force and torque they exert on the payload, but cannot directly distinguish their individual reactions. We design a follower control law that allows the leader to recover obstacle locations from these measurements. Each follower resists motion toward nearby obstacles, resulting in a piecewise-linear relationship between the payload's translational and angular velocity and the aggregate wrench. Changes between adjacent linear regions reveal an obstacle's bearing and distance and identify the responding follower. We give sufficient conditions for exact recovery at a fixed payload configuration and develop an adaptive probing procedure in which the leader applies translational and rotational inputs to the payload to obtain the required measurements. We demonstrate the performance of the proposed method in simulations.
Innovation
Methods, ideas, or system contributions that make the work stand out.
communication-free
obstacle localization
aggregate wrench
leader-follower cooperative transport
adaptive probing
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