A Finite-Gain Stable Multi-Agent Robot Control Framework with Adaptive Authority Allocation
Ribin Balachandran Hrishik Mishra Michael Panzirsch Christian Ott Ribin Balachandran Hrishik Mishra Michael Panzirsch Christian Ott
Multi-agent control of a robot using multiple controllers is vital in domains like shared control and reliable control. The strategy of assigning a varying priority (authority) to each agent controller, and commanding the robot using an authority-weighted sum of the forces produced by all the agents has been exploited in prior works. In this paper, firstly, we show that this strategy results in a ...