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## Distributed estimation of the inertial parameters of an unknown load via multi-robot manipulation (2014)

Venue: | in 53rd IEEE Conf. on Decision and Control |

Citations: | 1 - 1 self |

### Citations

1946 |
Distributed Algorithms
- Lynch
- 1996
(Show Context)
Citation Context ...., change the controller’s behavior when the load changes one or more of its characteristics). Moreover, since cooperative tasks exhibit great advantages when carried out via decentralized strategies =-=[8]-=-, decentralized inertial parameter’s estimation algorithms are highly desirable, to maintain the features of robustness, flexibility, and fault tolerance of the cooperative manipulation system as a wh... |

1247 |
Applied Nonlinear Control”,
- Slotine, Weiping
- 1991
(Show Context)
Citation Context ...rden, simulation results are very satisfactory and confirm the effectiveness of our approach. APPENDIX We briefly recall a well known parameter estimation procedure based on filtering linear dynamics =-=[15]-=-, which is used in our algorithm during the estimation of constant parameters such as the inter-distance between contact points, the moment of inertia J and the mass m. Notably, given the linear syste... |

757 | Consensus and cooperation in networked multi-agent systems
- Olfati-Saber, Fax, et al.
- 2007
(Show Context)
Citation Context ...1 z⊥i T z⊥i = 1 J n∑ i=1 ‖zi‖2. (15) Thus, J can be computed by applying the following distributed algorithm: 1) Distributively compute the value w = ∑n i=1 ‖zi‖2 using an average consensus algorithm =-=[11]-=-, i.e., each robot sets a local state variable ξi|t=t0 = ‖zi‖2 and applies the local update rule ξ̇i = ∑ j∈Ni (ξj − ξi), (16) which, since the communication graph is connected by assumption, leads ξi ... |

372 |
Introduction to Distributed Algorithms
- Tel
- 2000
(Show Context)
Citation Context ...at is the only source of centralized information needed, can be easily relaxed by implementing one of the several algorithms for the distributed estimation of a graph size before the algorithm starts =-=[9]-=-. 2This can be ensured, e.g., by endowing the load with wheels. do not assume that the robot can measure the position of the contact point, nor its acceleration.3 Furthermore, we do not assume kinemat... |

246 |
Nonlinear controllability and observability
- Hermann, Krener
- 1977
(Show Context)
Citation Context ... able to design a suitable nonlinear observer we have first to study the observability of system (21). Proposition V.1. If x3 6= 0 and f̄y 6= 0, then system (21) is locally observable in the sense of =-=[14]-=-. Preprint version, final version at http://ieeexplore.ieee.org/ 4 2014 53rd IEEE CDC Proof. The proof, omitted due to space constraints, follows the line of arguments in [14] and is based on the comp... |

18 | Motion planning of multiple mobile robots for cooperative manipulation and transportation
- Yamashita, Arai, et al.
- 2003
(Show Context)
Citation Context ...ve manipulation by teams of robotic agents, due to its relevant applications in several fields, such as search and rescue and disaster recovering, cooperative transportation, and service robotics. In =-=[1]-=-, for example, a path planner for cooperative manipulation is proposed. It consists of two components; a global path planner, responsible of obstacle avoidance, and a local manipulation planner, respo... |

8 | Geometric control of cooperating multiple quadrotor UAVs with a suspended load
- Lee, Sreenath, et al.
(Show Context)
Citation Context ...ams with the aim of combining optimal goal regulation and relaxation of the formation rigidity constraint is carried out. Cooperative manipulation has also been dealt with in aerial applications [3], =-=[4]-=-, using cables, or other interaction tools. However, the majority of the works does not focus on an accurate dynamic modeling of the payload, which is either modeled as a point mass or as a rigid body... |

5 |
On-line estimation of inertial parameters using a recursive total least-squares approach
- KUBUS, KROGER, et al.
- 2008
(Show Context)
Citation Context ...it. reasons: first, it allows to manipulate unknown objects with effective techniques once the inertial parameters are estimated, e.g., by exploiting force control and pose estimation algorithms [6], =-=[7]-=-. Second, it is very important when time-varying inertial parameters are present, such as, e.g., when part of the load on a cart is dropped or an additional load is added by an external agent. In the ... |

5 |
Distributed centroid estimation from noisy relative measurements
- Aragues, Carlone, et al.
(Show Context)
Citation Context ...ailed in Sec. IV; Step 2: zi(t) becomes available after t1. For any time t ≥ t1, robot i uses the relative position measurements zij(t) (available thanks to Step 1) to compute, using the algorithm in =-=[10]-=-, the vector zi(t); Step 3: ω(t) becomes available after t1. For any time t ≥ t1, robot i uses the following formula to compute, locally, the angular velocity of B: ω(t) = sign(ω) ∣∣∣∣∣ żTijz⊥ij(t)‖z... |

3 |
Formation-based approach for multi-robot cooperative manipulation based on optimal control design
- Sieber, Deroo, et al.
- 2013
(Show Context)
Citation Context ...It consists of two components; a global path planner, responsible of obstacle avoidance, and a local manipulation planner, responsible of the object’s manipulation via the control of its position. In =-=[2]-=-, the control of robotic teams with the aim of combining optimal goal regulation and relaxation of the formation rigidity constraint is carried out. Cooperative manipulation has also been dealt with i... |

2 | The Flying Hand: a formation of uavs for cooperative aerial tele-manipulation
- Gioioso, Franchi, et al.
- 2014
(Show Context)
Citation Context ...ic teams with the aim of combining optimal goal regulation and relaxation of the formation rigidity constraint is carried out. Cooperative manipulation has also been dealt with in aerial applications =-=[3]-=-, [4], using cables, or other interaction tools. However, the majority of the works does not focus on an accurate dynamic modeling of the payload, which is either modeled as a point mass or as a rigid... |

2 |
Nonholonomic cooperative manipulation of polygonal objects in the plane
- Satici, Spong
- 2012
(Show Context)
Citation Context ...ols. However, the majority of the works does not focus on an accurate dynamic modeling of the payload, which is either modeled as a point mass or as a rigid body with unknown dynamical parameters. In =-=[5]-=-, the problem of cooperatively manipulating an object on a plane by a team of non-holonomic wheeled robots is dealt with. The problem is solved by defining the dynamics of the whole system (i.e., the ... |

2 |
Inertia parameter estimation of planar object in pushing operation
- Yong, Arima, et al.
- 2005
(Show Context)
Citation Context ...liba.it. reasons: first, it allows to manipulate unknown objects with effective techniques once the inertial parameters are estimated, e.g., by exploiting force control and pose estimation algorithms =-=[6]-=-, [7]. Second, it is very important when time-varying inertial parameters are present, such as, e.g., when part of the load on a cart is dropped or an additional load is added by an external agent. In... |

2 | On the convergence of the max-consensus protocol with asynchronous updates
- Giannini, Paola, et al.
- 2013
(Show Context)
Citation Context ... (19) It is clear that, to keep the distributed character of the algorithm the value of f must be agreed on in a distributed way. This can be easily achieved by means of standard consensus algorithms =-=[12]-=-, [13]. Without loss of generality, up to a suitable coordinate change, we assume f̄ = ( 0 f̄y)T . Considering that the vector zC has constant length and is rigidly attached to the object, we also hav... |

2 |
On the robust synthesis of logical consensus algorithms for distributed intrusion detection
- Fagiolini, Bicchi
(Show Context)
Citation Context ...It is clear that, to keep the distributed character of the algorithm the value of f must be agreed on in a distributed way. This can be easily achieved by means of standard consensus algorithms [12], =-=[13]-=-. Without loss of generality, up to a suitable coordinate change, we assume f̄ = ( 0 f̄y)T . Considering that the vector zC has constant length and is rigidly attached to the object, we also have ż⊥C... |