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A Distributed Processing Approach for Smooth Task Transitioning in SHC
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https://www.youtube.com/watch?v=ceM-HqMbgss A Distributed Processing Approach for Smooth Task Transitioning in Strict Hierarchical Control A hierarchical control framework is proposed, in which multi-robot systems can rely on a distributed processing approach that enables the minimization of computational costs, and guarantees smooth and continuous task/constraints transitions when the priorities inside the hierarchy are changed. The approach is tested during three task transitions, for different tasks such as constrained trajectory tracking, obstacle avoidance, and postural optimization. Two mobile manipulators are used, each having 10 DoF, and the results confirm the smoothness of the generated solutions. This work was carried out within the framework of the project "RAISE - Robotics and AI for Socio-economic Empowerment” and has been supported by European Union - NextGenerationEU.
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