Trajectory Optimization for Distributed Manipulation by Shaping a Physical Field
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F23%3A00366840" target="_blank" >RIV/68407700:21230/23:00366840 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1109/ICRA48891.2023.10160720" target="_blank" >http://dx.doi.org/10.1109/ICRA48891.2023.10160720</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICRA48891.2023.10160720" target="_blank" >10.1109/ICRA48891.2023.10160720</a>
Alternative languages
Result language
angličtina
Original language name
Trajectory Optimization for Distributed Manipulation by Shaping a Physical Field
Original language description
Trajectory optimization is used to solve various planning tasks. In this paper we present a optimization-based method that solves a planning problem for multiple independent objects manipulated by a spatially continuous physical field. The field is generated and controlled (shaped) in real time by an array of actuators. In the paper we first formulate a trajectory optimization problem and a related initialization scheme, and then we demonstrate the proposed method using an experimental platform for distributed magnetic manipulation. The demonstrated task is that of planar reconfiguration of an ensemble of multiple objects, which significantly benefits from the inherent parallelism of the manipulation enabled by the array of actuators shaping the physical field. We show that the system can rearrange up to eight objects simultaneously while avoiding collisions.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
—
OECD FORD branch
20205 - Automation and control systems
Result continuities
Project
—
Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2023
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
2023 IEEE International Conference on Robotics and Automation
ISBN
979-8-3503-2365-8
ISSN
1050-4729
e-ISSN
2577-087X
Number of pages
7
Pages from-to
10111-10117
Publisher name
IEEE
Place of publication
Piscataway
Event location
Londýn
Event date
May 29, 2023
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
001048371102113