Energy Autonomy for Robot Systems With Constrained Resources | IEEE Journals & Magazine | IEEE Xplore

Energy Autonomy for Robot Systems With Constrained Resources


Abstract:

One of the key factors for extended autonomy and resilience of battery-powered multirobot systems is their ability to maintain energy sufficiency by recharging when neede...Show More

Abstract:

One of the key factors for extended autonomy and resilience of battery-powered multirobot systems is their ability to maintain energy sufficiency by recharging when needed. In situations with limited access to charging facilities, robots need to be able to share and coordinate recharging activities, with guarantees that no robot will run out of energy. In this work, we present an approach based on control barrier functions (CBFs) to enforce both energy sufficiency (ensuring that no robot runs out of battery) and coordination constraints (guaranteeing mutual exclusive use of an available charging station) in a mission agnostic fashion. Moreover, we investigate the system capacity in terms of the relation between individual robot properties and the limit on temporal separation requirements within charging cycles. We show physics-based simulation results as well as real robot experiments that demonstrate the effectiveness of the proposed approach.
Published in: IEEE Transactions on Robotics ( Volume: 38, Issue: 6, December 2022)
Page(s): 3675 - 3693
Date of Publication: 01 July 2022

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I. Introduction

The field of multirobot systems has seen extensive growth in the past years, as different applications have been explored, such as surveillance [1], [2], search, and rescue [3], handling hazardous waste [4], coverage in mobile sensor networks [5], exploration, and mapping [6] just to name a few. Although these applications highlight several merits of multirobot systems, there is still a need to understand how to carry out such missions for an extended period of time in a robust and reliable manner.

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Cites in Papers - IEEE (3)

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1.
Sanghamitra Mishra, Arijit Mondal, Samrat Mondal, "Multi-Robot Energy Persistence using Load Sharing for Battery Driven Robots", 2024 IEEE 100th Vehicular Technology Conference (VTC2024-Fall), pp.1-5, 2024.
2.
Zheng Tian, Xinming Wang, Jun Yang, Shihua Li, Dan Niu, Qi Li, "Safety-Critical Disturbance Rejection Control of Overhead Crane Systems: Methods and Experimental Validation", IEEE Transactions on Control Systems Technology, vol.32, no.6, pp.2253-2266, 2024.
3.
Kaleb Ben Naveed, Devansh Agrawal, Christopher Vermillion, Dimitra Panagou, "Eclares: Energy-Aware Clarity-Driven Ergodic Search", 2024 IEEE International Conference on Robotics and Automation (ICRA), pp.14326-14332, 2024.
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References

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