Achieving the Desired Dynamic Behavior in Multi-Robot Systems Interacting with the Environment

摘要

In this paper we consider the problem of controlling the dynamic behavior ofa multi-robot system while interacting with the environment. In particular, wepropose a general methodology that, by means of locally scaling inter-robotcoupling relationships, leads to achieving a desired interactive behavior. Theproposed method is shown to guarantee passivity preservation, which ensures asafe interaction. The performance of the proposed methodology is evaluated insimulation, over large-scale multi-robot systems.