Tree organization method for structuring cluster space-based rover formations with applications to multi-object transportation

Baquero-Suárez, Mauro; Mas, Ignacio; Giribet, Juan I.

Ponencia en Congreso:
Tree organization method for structuring cluster space-based rover formations with applications to multi-object transportation

dc.contributor.author	Baquero-Suárez, Mauro
dc.contributor.author	Mas, Ignacio
dc.contributor.author	Giribet, Juan I.
dc.date.accessioned	2021-01-25T19:25:54Z
dc.date.available	2021-01-25T19:25:54Z
dc.date.issued	2020-10
dc.description.abstract	"In this work, concepts of cluster space approach are extended through a novel formulation, namely Tree Organization Method (TOM), to systematically arrange formations of mobile robots. TOM consists in analyzing the =-robot cluster as an open kinematic chain with multiple branches, where robots remain linked as they move according to this virtual mechanism, by ensuring the specified formation’s geometry during all the navigation time.TOMallows to easily generate synchronized reference trajectories for all robots involved in the formation, and this formulation is applied to the particular case of an arranged 7-robot cluster tasked to transport 3 spheres along a predefined trajectory. This scenario is recreated in a realistic cooperative simulation interfacing MSC ADAMS and MATLAB, where multi-body dynamic modeling, cluster specification under TOM and robust tracking controllers are developed for this multi-robot application."	en
dc.identifier.isbn	978-3-030-60372-4
dc.identifier.uri	http://ri.itba.edu.ar/handle/123456789/3346
dc.language.iso	en	en
dc.relation	info:eu-repo/semantics/reference/doi/10.1007/978-3-030-60372-4_23
dc.subject	ROBOTICA	es
dc.subject	CONTROL ROBUSTO	es
dc.subject	DINAMICA DE CUERPOS RIGIDOS	es
dc.title	Tree organization method for structuring cluster space-based rover formations with applications to multi-object transportation	en
dc.type	Ponencias en Congresos	es
dc.type	info:eu-repo/semantics/acceptedVersion
dspace.entity.type	Ponencia en Congreso
itba.description.filiation	Fil: Baquero-Suárez, Mauro. Instituto Tecnológico de Buenos Aires; Argentina
itba.description.filiation	Fil: Mas, Ignacio. Instituto Tecnológico de Buenos Aires; Argentina.
itba.description.filiation	Fil: Mas, Ignacio. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
itba.description.filiation	Fil: Giribet, Juan I. Universidad de Buenos Aires. Facultad de Ingeniería; Argentina
itba.description.filiation	Fil: Giribet, Juan I. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina