On Null Space Based Inverse Kinematics Techniques for Fleet Management: Towards Time-Varying Task Activation

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Anna Manucci, Danilo Caporale, Lucia Pallottino
On Null Space Based Inverse Kinematics Techniques for Fleet Management: Towards Time-Varying Task Activation
IEEE Transactions on Robotics

Abstract

Multirobot fleets play an important role in industrial logistics, suveillance, and exploration applications.A wide literature exists
on the topic, both resorting to reactive (i.e. collision avoidance) and to deliberative (i.e. motion planning) techniques. In this work, null
space-based inverse kinematics (NSB-IK) methods are applied to the problem of fleet management. Several NSB-IK approaches
existing in the literature are reviewed, and compared with a reverse priority approach, which originated in manipulator control, and is
here applied for the first time to the considered problem. All NSB-IK approaches are here described in a unified formalism, which allows
(i) to encode the property of each controller into a set of seven main key features, (ii) to study possible new control laws with an
opportune choice of these parameters. Furthermore, motivated by the envisioned application scenario, we tackle the problem om task-
switching activation. Leveraging on the iCAT TPC technique Simetti and Casalino, 2016, in this article, we propose a method to obtain
continuity in the control in face of activation or deactivation of tasks, and subtasks by defining suitable damped projection operators. The
proposed approaches are evaluated formally, and via simulations. Performances with respect to standard methods are compared
considering a specific case study for multivehicles management.

 

@ARTICLE{9194321,
 author={A. {Manucci} and D. {Caporale} and L. {Pallottino}},
 journal=IEEE Transactions on Robotics},
 title=/On Null Space-Based Inverse Kinematics Techniques for Fleet Management: Toward Time-Varying Task Activation},
 year={2020},
 volume={},
 number={},
 pages={1-18},
 doi={10.1109/TRO.2020.3018642}}
 }