The null-space-based behavioral control for mobile robots with velocity actuator saturations

International Journal of Robotics Research

Volumn 29, Issue 10, 2010, Pages 1317-1337

  Arrichiello, Filippo ^a   Chiaverini, Stefano ^a   Indiveri, Giovanni ^b   Pedone, Paola ^b  

^a UNIVERSITY OF CASSINO AND SOUTHERN LAZIO   (Italy)

^b UNIVERSITY OF SALENTO   (Italy)

Author keywords

behavior based robotics; mobile robots; multi robot systems; velocity saturated actuators

Indexed keywords

ACTUATOR SATURATIONS; BEHAVIOR BASED ROBOTICS; BEHAVIOR-BASED ROBOTS; HIERARCHICAL ORGANIZATIONS; MULTI-ROBOT SYSTEMS; NULL-SPACE-BASED BEHAVIORAL CONTROL; NUMERICAL SIMULATION; PRIORITY TASKS; PROJECTION TECHNIQUES; SPACE-BASED; VELOCITY SATURATION;

ACTUATORS; INDUSTRIAL ROBOTS; MULTIPURPOSE ROBOTS; ROBOT LEARNING; ROBOTICS; VELOCITY;

MOBILE ROBOTS;

EID: 77955818048     PISSN: 02783649     EISSN: 17413176     Source Type: Journal    
DOI: 10.1177/0278364909358788     Document Type: Article

References (35)

1. Aguiñaga-Ruiz, E., Zavala-Río, A., Santibáñez, V. and Reyes, F. (2009). Global trajectory tracking through static feedback for robot manipulators with bounded inputs. IEEE Transactions on Control Systems Technology, 17 (4). 934-944.
2. Antonelli, G., Arrichiello, F. and Chiaverini, S. (2008 a). The entrapment/escorting mission: an experimental study using a multirobot system. IEEE Robotics and Automation Magazine, 15 (1). 22-29.
3. Antonelli, G., Arrichiello, F. and Chiaverini, S. (2008 b). The Null-Space-based Behavioral control for autonomous robotic systems. Journal of Intelligent Service Robotics, 1 (1). 27-39.
4. Antonelli, G., Arrichiello, F. and Chiaverini, S. (2008 c). Stability analysis for the null-space-based behavioral control for multi-robot systems. 47th IEEE Conference on Decision and Control and 8th European Control Conference, Cancun, Mexico.
5. Antonelli, G., Arrichiello, F. and Chiaverini, S. (2009). Experiments of formation control with multirobot systems using the null-space-based behavioral control. IEEE Transactions on Control Systems Technology, 17 (5). 1173-1182.
6. Antonelli, G. and Chiaverini, S. (2003). Kinematic control of a platoon of autonomous vehicles. Proceedings 2003 IEEE International Conference on Robotics and Automation, Taipei, Taiwan, pp. 1464-1469.
7. Antonelli, G. and Chiaverini, S. (2004). Fault tolerant kinematic control of platoons of autonomous vehicles. Proceedings 2004 IEEE International Conference on Robotics and Automation, New Orleans, LA, pp. 3313-3318.
8. Arkin, R. (1989). Motor schema based mobile robot navigation. The International Journal of Robotics Research, 8 (4). 92-112.
9. Arkin, R. (1998). Behavior-based Robotics. Cambridge, MA, The MIT Press.
10. Arrichiello, F., Chiaverini, S., Pedone, P., Zizzari, A. and Indiveri, G. (2009). The null-space based behavioral control for non-holonomic mobile robots with actuators velocity saturation. Proceedings 2009 IEEE International Conference on Robotics and Automation, Kobe, Japan, pp. 4019- 4024.
11. Balch, T. and Arkin, R. (1998). Behavior-based formation control for multirobot teams. IEEE Transactions on Robotics and Automation, 14 (6). 926-939.
12. Brooks, R. (1986). A robust layered control system for a mobile robot. IEEE Journal of Robotics and Automation, 2: 14-23. (Pubitemid 16576274)
13. Chen, H., Ma, M.-M., Wang, H., Liu, Z.-Y. and Cai, Z.-X. (2009). Moving horizon Hĝ̂ẑ tracking control of wheeled mobile robots with actuator saturation. IEEE Transactions on Control Systems Technology, 17 (2). 449-457.
14. Chiaverini, S. (1997). Singularity-robust task-priority redundancy resolution for real-time kinematic control of robot manipulators. IEEE Transactions on Robotics and Automation, 13 (3). 398-410.
15. Dixon, W.E., de Queiroz, M.S., Zhang, F. and Dawson, D.M. (1999). Tracking control of robot manipulators with bounded torque inputs. Robotica, 17 (2). 121-129.
16. Esposito, J. (2009). Decentralized cooperative manipulation with a swarm of mobile robots. Proceedings 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, StLouis, MO, pp. 5333-5338.
17. Farinelli, A., Iocchi, L. and Nardi, D. (2004). Multirobot systems: a classification focused on coordination. IEEE Transactions on Systems, Man, and Cybernetics-Part B, 34 (5). 2015-2028.
18. Fink, J., Hsieh, M. and Kumar, V. (2008). Multi-robot manipulation via caging in environments with obstacles. Proceedings 2008 IEEE International Conference on Robotics and Automation, Pasadena, CA, pp. 1471-1476.
19. Fossen, T. (2002). Marine Control Systems: Guidance, Navigation and Control of Ships, Rigs and Underwater Vehicles. Trondheim, Norway, Marine Cybernetics.
20. Hurdus, J.G. and Hong, D.W. (2008). Behavioral programming with hierarchy and parallelism in the DARPA Urban Challenge and RoboCup. Proceedings 2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, Seoul, Korea, pp. 503-509.
21. Indiveri, G. (2009). Swedish wheeled omnidirectional mobile robots: kinematics analysis and control. IEEE Transactions on Robotics, 25 (1). 164-171.
22. Kelly, R. and Moreno, J. (2005). Manipulator motion control in operational space using joint velocity inner loops. Automatica, 41 (8). 1423-1432.
23. Kim, S. and Park, F.C. (2008). Fast robot motion generation using principal components: framework and algorithms. IEEE Transactions on Industrial Electronics, 55 (6). 2506-2516.
24. Kumar, R. and Stover, J.A. (2000). A behavior-based intelligent control architecture with application to coordination of multiple underwater vehicles. IEEE Transactions on Systems, Man, and Cybernetics-Part A, 30 (6). 767-784.
25. Maciejewski, A. (1988). Numerical filtering for the operation of robotic manipulators through kinematically singular configurations. Journal of Robotic Systems, 5 (6). 527-552.
26. Mataric, M. (1997). Behavior-based control: examples from navigation, learning, and group behavior. Journal of Experimental and Theoretical Artificial Intelligence, 9 (2-3). 323-336.
27. Matrox (2001). Matrox Imaging Library User Guide. Dorval, Quebec, Canada, Matrox Electronic Systems Ltd.
28. Murphey, T. and Horowitz, M. (2008). Adaptive cooperative manipulation with intermittent contact. Proceedings 2008 IEEE International Conference on Robotics and Automation, Pasadena, CA, pp. 1483-1488.
29. Nakamura, Y., Hanafusa, H. and Yoshikawa, T. (1987). Task-priority based redundancy control of robot manipulators. The International Journal of Robotics Research, 6 (2). 3-15. (Pubitemid 17619829)
30. Omrcen, D., Ẑlajpah, L. and Nemec, B. (2007). Compensation of velocity and/or acceleration joint saturation applied to redundant manipulator. Robotics and Autonomous Systems, 55: 337-344.
31. Parker, L. (1996). On the design of behavior-based multi-robot teams. Advanced Robotics, 10 (6). 547-578.
32. Samson, C., Borgne, M.L. and Espiau, B. (1991). Robot Control: The Task Function Approach. (Engineering Science Series, No. 22). Oxford, Clarendon Press.
33. Sciavicco, L. and Siciliano, B. (2000). Modeling and Control of Robot Manipulators. London, Springer.
34. Wu, F., Lin, Z. and Zheng, Q. (2007). Output feedback stabilization of linear systems with actuator saturation. IEEE Transactions on Automatic Control, 52 (1). 122-128. (Pubitemid 46344007)
35. Zavala-Río, A. and Santibáñez, V. (2007). A natural saturating extension of the PD-with-desired-gravity-compensation control law for robot manipulators with bounded inputs. IEEE Transactions on Robotics, 23 (2). 386-391.