Trajectory design for formations of robots by kinetic energy shaping

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dc.contributor.authorBelta, Calin
dc.contributor.authorKumar, R. Vijay
dc.date2023-05-16T21:42:33.000
dc.date.accessioned2023-05-22T23:46:21Z
dc.date.available2023-05-22T23:46:21Z
dc.date.issued2002-05-11
dc.date.submitted2004-11-12T06:45:22-08:00
dc.description.abstractWe develop a method for generating smooth trajectories for a set of mobile robots. Given two end configurations, by tuning one parameter; the user can choose an interpolating trajectory from a continuum of curves varying from that corresponding to maintaining a rigid fomation to motion of the robots toward each other. The idea behind our method is to change the original constant kinetic energy metric in the configuration space and can be summarized into three steps. First, the energy of the motion as a rigid structure is decoupled from the energy of motion along directions that violate the rigid constraints. Second, the metric is “shaped” by assigning different weights to each term, and, third, geodesic flow is constructed for the modified metric. The optimal motions generated on the manifolds of rigid body displacements in 3-D space (SE(3)) or in plane (SE(2)) and the uniform rectilinear motion of each robot corresponding to a totally uncorrelated approach are particular cases of our general treatment.
dc.description.commentsCopyright 2002 IEEE. Reprinted from Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA 2002), Volume 3, pages 2593-2598. Publisher URL: http://ieeexplore.ieee.org/xpl/tocresult.jsp?isNumber=21827&page=4 This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.
dc.identifier.urihttps://repository.upenn.edu/handle/20.500.14332/39814
dc.legacy.articleid1011
dc.legacy.fulltexturlhttps://repository.upenn.edu/cgi/viewcontent.cgi?article=1011&context=meam_papers&unstamped=1
dc.source.issue11
dc.source.journalDepartmental Papers (MEAM)
dc.source.peerreviewedtrue
dc.source.statuspublished
dc.subject.otherGRASP
dc.titleTrajectory design for formations of robots by kinetic energy shaping
dc.typePresentation
digcom.contributor.authorBelta, Calin
digcom.contributor.authorisAuthorOfPublication|email:kumar@grasp.upenn.edu|institution:University of Pennsylvania|Kumar, R. Vijay
digcom.identifiermeam_papers/11
digcom.identifier.contextkey32524
digcom.identifier.submissionpathmeam_papers/11
digcom.typeconference
dspace.entity.typePublication
relation.isAuthorOfPublication3baa51e5-8e46-41ad-8508-56c025d0f9f1
relation.isAuthorOfPublication.latestForDiscovery3baa51e5-8e46-41ad-8508-56c025d0f9f1
upenn.schoolDepartmentCenterDepartmental Papers (MEAM)
upenn.schoolDepartmentCenterGeneral Robotics, Automation, Sensing and Perception Laboratory
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