Energy Conscious Over-actuated Multi-Agent Payload Transport Robot:\n Simulations and Preliminary Physical Validation Article Swipe
Rahul Tallamraju
,
Pulkit Verma
,
Venkatesh Sripada
,
Shrey Agrawal
,
Kamalakar Karlapalem
·
YOU?
·
· 2019
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.1909.04655
YOU?
·
· 2019
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.1909.04655
In this work, we consider a multi-wheeled payload transport system. Each of\nthe wheels can be selectively actuated. When they are not actuated, wheels are\nfree moving and do not consume battery power. The payload transport system is\nmodeled as an actuated multi-agent system, with each wheel-motor pair as an\nagent. Kinematic and dynamic models are developed to ensure that the payload\ntransport system moves as desired. We design optimization formulations to\ndecide on the number of wheels to be active and which of the wheels to be\nactive so that the battery is conserved and the wear on the motors is reduced.\nOur multi-level control framework over the agents ensures that near-optimal\nnumber of agents is active for the payload transport system to function.\nThrough simulation studies we show that our solution ensures energy efficient\noperation and increases the distance traveled by the payload transport system,\nfor the same battery power. We have built the payload transport system and\nprovide results for preliminary experimental validation.\n
Related Topics
Concepts
Payload (computing)
Battery (electricity)
Kinematics
Work (physics)
Computer science
Robot
Power (physics)
Energy (signal processing)
Simulation
Automotive engineering
Engineering
Control engineering
Control theory (sociology)
Control (management)
Mechanical engineering
Physics
Network packet
Quantum mechanics
Classical mechanics
Artificial intelligence
Computer network
Metadata
- Type
- preprint
- Landing Page
- http://arxiv.org/abs/1909.04655
- https://arxiv.org/pdf/1909.04655
- OA Status
- green
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4288111511
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W4288111511Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.48550/arxiv.1909.04655Digital Object Identifier
- Title
-
Energy Conscious Over-actuated Multi-Agent Payload Transport Robot:\n Simulations and Preliminary Physical ValidationWork title
- Type
-
preprintOpenAlex work type
- Publication year
-
2019Year of publication
- Publication date
-
2019-09-10Full publication date if available
- Authors
-
Rahul Tallamraju, Pulkit Verma, Venkatesh Sripada, Shrey Agrawal, Kamalakar KarlapalemList of authors in order
- Landing page
-
https://arxiv.org/abs/1909.04655Publisher landing page
- PDF URL
-
https://arxiv.org/pdf/1909.04655Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
- OA URL
-
https://arxiv.org/pdf/1909.04655Direct OA link when available
- Concepts
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Payload (computing), Battery (electricity), Kinematics, Work (physics), Computer science, Robot, Power (physics), Energy (signal processing), Simulation, Automotive engineering, Engineering, Control engineering, Control theory (sociology), Control (management), Mechanical engineering, Physics, Network packet, Quantum mechanics, Classical mechanics, Artificial intelligence, Computer networkTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
0Total citation count in OpenAlex
- Related works (count)
-
10Other works algorithmically related by OpenAlex
Full payload
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| abstract_inverted_index.framework | 98 |
| abstract_inverted_index.increases | 127 |
| abstract_inverted_index.transport | 8, 33, 112, 134, 145 |
| abstract_inverted_index.an\nagent. | 46 |
| abstract_inverted_index.be\nactive | 81 |
| abstract_inverted_index.simulation | 116 |
| abstract_inverted_index.to\ndecide | 66 |
| abstract_inverted_index.is\nmodeled | 35 |
| abstract_inverted_index.multi-agent | 39 |
| abstract_inverted_index.multi-level | 96 |
| abstract_inverted_index.preliminary | 150 |
| abstract_inverted_index.selectively | 15 |
| abstract_inverted_index.wheel-motor | 43 |
| abstract_inverted_index.and\nprovide | 147 |
| abstract_inverted_index.experimental | 151 |
| abstract_inverted_index.formulations | 65 |
| abstract_inverted_index.optimization | 64 |
| abstract_inverted_index.system,\nfor | 135 |
| abstract_inverted_index.multi-wheeled | 6 |
| abstract_inverted_index.reduced.\nOur | 95 |
| abstract_inverted_index.validation.\n | 152 |
| abstract_inverted_index.function.\nThrough | 115 |
| abstract_inverted_index.payload\ntransport | 57 |
| abstract_inverted_index.efficient\noperation | 125 |
| abstract_inverted_index.near-optimal\nnumber | 104 |
| cited_by_percentile_year | |
| countries_distinct_count | 0 |
| institutions_distinct_count | 5 |
| sustainable_development_goals[0].id | https://metadata.un.org/sdg/7 |
| sustainable_development_goals[0].score | 0.8999999761581421 |
| sustainable_development_goals[0].display_name | Affordable and clean energy |
| citation_normalized_percentile.value | 0.37912962 |
| citation_normalized_percentile.is_in_top_1_percent | False |
| citation_normalized_percentile.is_in_top_10_percent | False |