Event-based planning and control for multi-robot coordination

A planning and control scheme for multi-robot coordination is presented. An event-based motion reference that drives the system to achieve the best possible coordination is introduced. The general task space is combined with the nonlinear feedback technique to design hybrid position/force controllers. To improve the force control performance, the dynamics of joint motors are taken into account. For a given task, a task projection operator can be found for each robot, with consideration of redundancy management. A distributed computing architecture is proposed for parallel implementation of this scheme. The event-based coordination scheme was experimentally implemented and tested for the coordinated control of two six-degree-of-freedom PUMA 560 robots with very good results