Communication-Free Obstacle Localization from Aggregate Wrench Measurements in Leader--Follower Cooperative Transport

Key points

• A leader robot directs the payload's motion, while follower robots assist and react to locally detected obstacles.1
• Each follower resists motion toward nearby obstacles, resulting in a piecewise-linear relationship between the payload's translational and angular velocity and the aggregate wrench.1
• Changes between adjacent linear regions reveal an obstacle's bearing and distance and identify the responding follower.1
• We give sufficient conditions for exact recovery at a fixed payload configuration and develop an adaptive probing procedure in which the leader applies translational and rotational inputs to the payload to obtain the required measurements.1

Sources (1)

• [1]Communication-Free Obstacle Localization from Aggregate Wrench Measurements in Leader--Follower Cooperative Transport
  arXiv (AI, ML, NLP, CV, robotics, multi-agent) · Oct 6, 01:24 PM

  We consider obstacle localization for a team of robots cooperatively transporting a rigid payload without explicit inter-robot communication.

  A leader robot directs the payload's motion, while follower robots assist and react to locally detected obstacles.

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