Abstract
This paper reports initial steps in the study of control strategies for a multi-robot system trying to move a flexible hose. Our starting point is the hose geometry modeling using cubic splines. The control problem is then stated as the problem of reaching a desired configuration of the spline control points from an initial configuration. The control of the hose by the multi-robot system is first solved neglecting the hose internal dynamics. This is the simplest ideal case. Then we give a model for the internal dynamics. Future and on going work is addressing the definition of a control system that takes into account the hose internal dynamic constraints. © 2009 Springer Berlin Heidelberg.
Cite
CITATION STYLE
Echegoyen, Z., D’Anjou, A., Villaverde, L., & Graña, M. (2009). Towards the Adaptive Control of a Multirobot System for an Elastic Hose. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 5506 LNCS, pp. 1045–1052). https://doi.org/10.1007/978-3-642-02490-0_127
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