Synchronous Minimum-Time Cooperative Manipulation using Distributed Model Predictive Control
Argtim Tika,Naim Bajcinca,Argtim Tika,Naim Bajcinca
A hierarchical algorithm involving two-layer optimization-based control policies with varying degrees of abstraction is proposed, including upper layer task scheduling and lower layer local path planning. A scenario with two robot arms performing cooperative pick-and-place tasks for moving objects is specifically addressed. The main focus of the paper lies on the bottom layer of the hierarchical c...
