Cooperative Adaptive Control for Cloud-Based Robotics

@article{Wensing2017CooperativeAC,
  title={Cooperative Adaptive Control for Cloud-Based Robotics},
  author={Patrick M. Wensing and Jean-Jacques E. Slotine},
  journal={2018 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2017},
  pages={6401-6408}
}
This paper studies collaboration through the cloud in the context of cooperative adaptive control for robot manipulators. We first consider the case of multiple robots manipulating a common object through synchronous centralized update laws to identify unknown inertial parameters. Through this development, we introduce a notion of Collective Sufficient Richness, wherein parameter convergence can be enabled through teamwork in the group. The introduction of this property and the analysis of… CONTINUE READING
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