Cooperative Mobile Manipulation

In this research topic we investigate novel control and estimation algorithms for the cooperative manipulation via multiple mobile robots.

In [1] and [2] a novel identification and estimation technique is presented that allows the estimation of all the dynamic parameters and current twist of an object that is manipulated by a team of n robots in a fully decentralized way.

In [3] the dual control problem is addressed again in a fully decentralized way.

References

  1. A. Franchi, Petitti, A., and Rizzo, A., “Distributed Estimation of the Inertial Parameters of an Unknown Load via Multi-Robot Manipulation”, in 53rd IEEE Conference on Decision and Control, Los Angeles, CA, 2014, pp. 6111-6116.
  2. A. Franchi, Petitti, A., and Rizzo, A., “Decentralized Parameter Estimation and Observation for Cooperative Mobile Manipulation of an Unknown Load using Noisy Measurements”, in 2015 IEEE Int. Conf. on Robotics and Automation, Seattle, WA, 2015, pp. 5517-5522.
  3. A. Petitti, Franchi, A., Di Paola, D., and Rizzo, A., “Decentralized Motion Control for Cooperative Manipulation with a Team of Networked Mobile Manipulators”, in 2016 IEEE Int. Conf. on Robotics and Automation, Stockholm, Sweden, 2016, pp. 441-446.

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