微小重力下における人間参加型制御による押し出し協調輸送フレームワーク
Multi-Agent Transportation of Free-Flyers in Microgravity Via Pushing Interaction Under Human-in-the-Loop Control
微小重力空間で複数の追跡ロボットが受動的なターゲットを押して人間が指定した運動を追従させる、安全性を保証する制御手法を提案し、Gazeboシミュレーションで検証した。
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著者: Gregorio Marchesini, Nicola De Carli, Sihyun Cho, Youngkyoung Kong, Elias Krantz, Mani Hemanth Dhullipalla, Dimos V. Dimarogonas, H. Jin Kim
分類: cs.RO, eess.SY
原文アブストラクト
We propose a safety-critical framework for the cooperative transportation of passive targets in microgravity, where a team of chaser robots acts through unilateral pushing contacts to track a human-provided desired twist while ensuring safe target motion. The pushing-only nature of the interaction introduces sparse, configuration-dependent actuation constraints requiring chasers to physically relocate on the target body when the desired pushing allocation changes. To address these challenges, we formulate a delay-aware feedback control architecture leveraging Control Lyapunov Function (CLF) and Control Barrier Function (CBF) constraints within a mixed-integer thrust allocation program to enforce stability and safety of the target, respectively. The proposed framework enables reference tracking while guaranteeing obstacle avoidance with a circular obstacle despite intermittent control authority, providing a foundation for human-supervised cooperative transportation of free-flyers in space environments. The proposed framework is validated through Gazebo simulations.