https://github.com/star2dust/cooperative-control-safety-constraints

Codes for the paper "Distributed Cooperative Control of Redundant Mobile Manipulators With Safety Constraints". IEEE Transactions on Cybernetics 2021 | Journal article. DOI: 10.1109/tcyb.2021.3104044
https://github.com/star2dust/cooperative-control-safety-constraints

distributed-control optimization robotics

Last synced: about 2 months ago
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Codes for the paper "Distributed Cooperative Control of Redundant Mobile Manipulators With Safety Constraints". IEEE Transactions on Cybernetics 2021 | Journal article. DOI: 10.1109/tcyb.2021.3104044

• Host: GitHub
• URL: https://github.com/star2dust/cooperative-control-safety-constraints
• Owner: star2dust
• Created: 2022-07-14T11:15:42.000Z (over 2 years ago)
• Default Branch: main
• Last Pushed: 2022-07-14T11:44:43.000Z (over 2 years ago)
• Last Synced: 2024-01-30T01:15:58.479Z (11 months ago)
• Topics: distributed-control, optimization, robotics
• Language: MATLAB
• Homepage: https://ieeexplore.ieee.org/document/9525159
• Size: 3.5 MB
• Stars: 9
• Watchers: 2
• Forks: 2
• Open Issues: 1
• Metadata Files:
  • Readme: README.md

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README

        
## Distributed Cooperative Control of Redundant Mobile Manipulators With Safety Constraints

This repo contains the simulation codes for the distributed cooperative control of multiple mobile manipulator systems.

## Related Paper

Distributed Cooperative Control of Redundant Mobile Manipulators With Safety Constraints.

IEEE Transactions on Cybernetics 2021. DOI: [10.1109/tcyb.2021.3104044](https://ieeexplore.ieee.org/document/9525159/).

## Run The Simulation

- Install RTE by following the procedures in https://github.com/star2dust/Robotics-Toolbox

- Run "main_robot_simu.m"

## Simulation Result

The simulation result should be like this:



For more results and videos, See in [Youtube](https://youtu.be/J56E-t7DbkA).