On Distributed Cooperative Control for the Manipulation of a Hose by a Multirobot System

摘要

The manipulation of a hose can be formulated as the motion of a collection of autonomous robots linked by non-rigid elements so that the distance between robot units is not constant. The link may be a random component on the individual robot environment because under some circumstances it will be not known beforehand how the hose will influence the behaviour of the individual robot in response to control commands. We try to state the problem of distributed control of this kind of systems, under a gradation of conditions. We try to highlight the role of Hybrid Intelligent Systems in the development of solutions to this control problem. We have taken the works of Beard on UAV as the framework for the formulation of the system.