CRII: RI: Dynamic Multi-Robot Coordination and Cooperation Using Dynamically Stable Mobile Robots

这个项目的目标是了解使用动态稳定的移动的机器人（ballbots）的动态协作负载操纵的科学。在NSF资助下进行的研究正在增强多个球形机器人在空间受限的非结构化环境中协同执行动态操纵和运输重型负载的能力，同时通过冗余提供关键安全性。该项目将实现重载运输/操作任务的自动化，有可能减少事故和重复性应力损伤。具体的研究目标是：（a）过渡混合动力学模式的动态可行运动规划，（B）混合动力学操作的反馈控制。这项研究的变革性源于其在反馈控制和多层次动态可行运动规划方面产生理论进步的能力。

The goal of this project is to understand the science of dynamic collaborative load manipulation using dynamically stable mobile robots (ballbots). The research conducted under this NSF grant is enhancing the ability of multiple ballbots to cooperatively perform dynamic manipulation and transportation of heavy loads through spatially constrained, unstructured environments, while providing critical safety through redundancy. This project will enable automation of strenuous load transportation/manipulation tasks, having the potential to reduce accidents and repetitive stress injuries.The specific research aims are (a) dynamically feasible motion plans that transition hybrid dynamical modes, (b) feedback control for hybrid dynamic manipulation. The transformative nature of this research stems from its ability to generate theoretical advances in feedback control and dynamically feasible motion planning on multiple levels.