Distributed Coordination in Modular Precision Assembly Systems

Gowdy, Jay; Hollis, R.L.

doi:10.1177/02783640122068128

Cited by 32 publications

(19 citation statements)

References 31 publications

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“…The stability and convergence of the individual control policies guarantee the stability and convergence of any valid sequence of control policies given by the prepares relationship. Sequential composition was successfully applied to a variety of systems (Kantor and Rizzi 2003;Klavins and Koditschek 2000;Rizzi et al 2001). Conner et al presented an integrated motion planning and control procedure based on sequential composition to achieve navigation tasks for kinematic wheeled robots (Conner et al 2006).…”

Section: A Sequential Compositionmentioning

confidence: 99%

Integrated motion planning and control for graceful balancing mobile robots

Nagarajan

Kantor

Hollis

2013

The International Journal of Robotics Research

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Abstract-This paper presents an integrated motion planning and control framework that enables balancing mobile robots to gracefully navigate human environments. A palette of controllers called motion policies is designed such that balancing mobile robots can achieve fast, graceful motions in small, collision-free domains of the position space. The domains determine the validity of a motion policy at any point in the robot's position state space. An automatic instantiation procedure that generates a motion policy library by deploying motion policies from a palette on a map of the environment is presented. A gracefully prepares relationship that guarantees valid compositions of motion policies to produce overall graceful motion is introduced. A directed graph called the gracefully prepares graph is used to represent all valid compositions of motion policies in the motion policy library. The navigation tasks are achieved by planning in the space of these gracefully composable motion policies. In this work, Dijsktra's algorithm is used to generate a single-goal optimal motion policy tree, and its variant is used to rapidly replan the optimal motion policy tree in the presence of dynamic obstacles. A hybrid controller is used as a supervisory controller to ensure successful execution of motion policies and also successful switching between them.The integrated motion planning and control framework presented in this paper was experimentally tested on the ballbot, a human-sized dynamically stable mobile robot that balances on a single ball. The results of successful experimental testing of two navigation tasks, namely, pointpoint and surveillance motions are presented. Additional experimental results that validate the framework's capability to handle disturbances and rapidly replan in the presence of dynamic obstacles are also presented.

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Section: A Sequential Compositionmentioning

confidence: 99%

Integrated motion planning and control for graceful balancing mobile robots

Nagarajan

Kantor

Hollis

2013

The International Journal of Robotics Research

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“…One of the most successful methods in integrating deliberate planning with reactivity for dynamically dexterous robots is sequential composition, which was first introduced in the context of juggling [6] and later applied to other platforms such as planar mobile robots with different actuation modalities [16], [17] and the Minifactory [40]. Sequential composition characterizes dynamic behaviors for a robotic system through their invariant domains and goal sets in their state space, ensuring proper activation order through a prioritization combined with reactive decision making.…”

Section: Related Workmentioning

confidence: 99%

Reactive Planning and Control of Planar Spring–Mass Running on Rough Terrain

Arslan

Saranlı

2012

IEEE Trans. Robot.

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Abstract-An important motivation for work on legged robots has always been their potential for high-performance locomotion on rough terrain. Nevertheless, most existing control algorithms for such robots either make rigid assumptions about their environments or rely on kinematic planning at low speeds. Moreover, the traditional separation of planning from control often has negative impact on the robustness of the system. In this paper, we introduce a new method for dynamic, fully reactive footstep planning for a planar spring-mass hopper, based on a careful characterization of the model dynamics and the design of an associated deadbeat controller, used within a sequential composition framework. This yields a purely reactive controller with a large domain of attraction that requires no explicit replanning during execution. We show in simulation that plans constructed for a simplified dynamic model can successfully control locomotion of a more complete model across rough terrain. We also characterize the performance of the planner over rough terrain and show that it is robust against both model uncertainty and measurement noise without replanning.

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“…Sequential composition, introduced in [6], is a controller composition technique that connects a palette of controllers and automatically switches between them to generate a globally convergent feedback policy. This technique was successfully applied to a variety of systems [7], [8], [9], [10]. In [11], sequential composition was extended to produce an integrated planning and control procedure to achieve global navigation objectives for convexbodied wheeled mobile robots navigating amongst static obstacles.…”

Section: A Related Workmentioning

confidence: 99%

Hybrid control for navigation of shape-accelerated underactuated balancing systems

Nagarajan

Kantor

Hollis

2010

49th IEEE Conference on Decision and Control (CDC)

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Abstract-This paper presents a hybrid control strategy for navigation of shape-accelerated underactuated balancing systems with dynamic constraints. It extends the concept of sequential composition to perform discrete state-based switching between asymptotically convergent control policies to produce a globally asymptotically convergent feedback policy. The individual control policies consists of an external trajectory planner, a shape trajectory planner, an external trajectory tracking controller and a balancing controller. The paper also presents an integrated planning and control procedure, wherein standard graph-search algorithms are used to plan for the sequence of control policies that will help the system achieve a navigation goal. Simulation results of the 3D ballbot system navigating an environment with static obstacles to reach the goal position are also presented.

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Distributed Coordination in Modular Precision Assembly Systems

Cited by 32 publications

References 31 publications

Integrated motion planning and control for graceful balancing mobile robots

Integrated motion planning and control for graceful balancing mobile robots

Reactive Planning and Control of Planar Spring–Mass Running on Rough Terrain

Hybrid control for navigation of shape-accelerated underactuated balancing systems

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