{"id":911,"date":"2017-12-08T21:17:38","date_gmt":"2017-12-08T21:17:38","guid":{"rendered":"https:\/\/ryma.cinvestav.mx\/ravg\/?post_type=project&#038;p=911"},"modified":"2017-12-08T21:17:38","modified_gmt":"2017-12-08T21:17:38","slug":"hierarchical-task-based-control-multi-robot-systems-terminal-attractors","status":"publish","type":"project","link":"https:\/\/ryma.cinvestav.mx\/ravg\/project\/hierarchical-task-based-control-multi-robot-systems-terminal-attractors\/","title":{"rendered":"Hierarchical Task-based Control of Multi-Robot Systems with Terminal Attractors"},"content":{"rendered":"<div style=\"text-align: justify;\"><b>Authors<\/b>: Gustavo Arechavaleta, Am\u00e9rica Morales-D\u00edaz, H\u00e9ctor P\u00e9rez-Villeda and Mario Castel\u00e1n<\/div>\n<div style=\"text-align: justify;\"><\/div>\n<div style=\"text-align: justify;\"><\/div>\n<div style=\"text-align: justify;\"><b>Abstract<\/b>:\u00a0<span style=\"font-family: arial, sans-serif; font-size: small;\">This paper proposes a hierarchical control scheme based on the definition of a set of multi-robot task functions. To deal with the inherent conflicts between tasks, a strict hierarchy is imposed to them. We present a novel scheme that copes with two main difficulties shared in standard task-based controllers: 1) to impose a desired time convergence of tasks; 2) to avoid discontinuous task transitions occurred when a task is inserted or removed in the hierarchical structure. As a result, continuous input references are generated for the low level control of the group. The validation is achieved \u00a0in simulation and by performing an experiment with wheeled mobile robots.<\/span><\/div>\n<div title=\"Page 1\"><\/div>\n<div><\/div>\n<div>\n<div>\n<div class=\"sites-embed-align-center-wrapping-off\">\n<div class=\"sites-embed-border-off sites-embed\">\n<div class=\"sites-embed-content sites-embed-type-docs-video\"><iframe loading=\"lazy\" src=\"https:\/\/docs.google.com\/file\/d\/0ByBUzPu6JL1eVlVxSU9OYzRXbUk\/preview\" width=\"425\" height=\"265\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\" data-mce-fragment=\"1\"><\/iframe><\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<div>Preprint T-CST 2016\u00a0<a href=\"https:\/\/drive.google.com\/file\/d\/0B-7dVUdTjeJUa2JPb2d2anhwY1k\/view?usp=sharing\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/sites.google.com\/site\/gustavoarechavaleta\/_\/rsrc\/1472873655865\/pik_icra2013\/icon_pdf.gif\" alt=\"https:\/\/drive.google.com\/file\/d\/0B-7dVUdTjeJUa2JPb2d2anhwY1k\/view?usp=sharing\" border=\"0\" \/><\/a><\/div>\n","protected":false},"excerpt":{"rendered":"<p>Authors: Gustavo Arechavaleta, Am\u00e9rica Morales-D\u00edaz, H\u00e9ctor P\u00e9rez-Villeda and Mario Castel\u00e1n Abstract:\u00a0This paper proposes a hierarchical control scheme based on the definition of a set of multi-robot task functions. To deal with the inherent conflicts between tasks, a strict hierarchy is imposed to them. We present a novel scheme that copes with two main difficulties shared [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":918,"comment_status":"open","ping_status":"closed","template":"","meta":{"_et_pb_use_builder":"","_et_pb_old_content":"","_et_gb_content_width":"","footnotes":""},"project_category":[],"project_tag":[],"class_list":["post-911","project","type-project","status-publish","has-post-thumbnail","hentry"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.3 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>Hierarchical Task-based Control of Multi-Robot Systems with Terminal Attractors - Robotics Active Vision Group<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/ryma.cinvestav.mx\/ravg\/project\/hierarchical-task-based-control-multi-robot-systems-terminal-attractors\/\" \/>\n<meta property=\"og:locale\" content=\"en_US\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Hierarchical Task-based Control of Multi-Robot Systems with Terminal Attractors - Robotics Active Vision Group\" \/>\n<meta property=\"og:description\" content=\"Authors: Gustavo Arechavaleta, Am\u00e9rica Morales-D\u00edaz, H\u00e9ctor P\u00e9rez-Villeda and Mario Castel\u00e1n Abstract:\u00a0This paper proposes a hierarchical control scheme based on the definition of a set of multi-robot task functions. 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