Cooperative Adaptive Control for Cloud-Based Robotics
Name
1709.07112.pdf
Description
Submitted version
Size
3.13 MB
Format
Adobe PDF
Checksum (MD5)
572a79712258dd86651523652015e40f
Author(s)
Wensing, Patrick M.
Slotine, Jean-Jacques
Date Issued
May 2018
Journal
Proceedings - IEEE International Conference on Robotics and Automation
Publisher
IEEE
Citation
Wensing, Patrick M. and Slotine, Jean-Jacques. 2018. "Cooperative Adaptive Control for Cloud-Based Robotics." Proceedings - IEEE International Conference on Robotics and Automation.
Version
Original manuscript
Abstract
© 2018 IEEE. This paper studies collaboration through the cloud in the context of cooperative adaptive control for robot manipulators. We first consider the case of multiple robots manipulating a common object through synchronous centralized update laws to identify unknown inertial parameters. Through this development, we introduce a notion of Collective Sufficient Richness, wherein parameter convergence can be enabled through teamwork in the group. The introduction of this property and the analysis of stable adaptive controllers that benefit from it constitute the main new contributions of this work. Building on this original example, we then consider decentralized update laws, time-varying network topologies, and the influence of communication delays on this process. Perhaps surprisingly, these nonidealized networked conditions inherit the same benefits of convergence being determined through collective effects for the group. Simple simulations of a planar manipulator identifying an unknown load are provided to illustrate the central idea and benefits of Collective Sufficient Richness.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/icra.2018.8460856
