Related papers: Cooperative Control in Production and Logistics
The paper proposes a hierarchical, agent-based, DES supported, distributed architecture for networked organization control. Taking into account enterprise integration engineering frameworks and business process management techniques, the…
There is an increasing need for organizations to collaborate with internal and external partners on a global scale for creating software-based products and services. Many aspects and risks need to be addressed when setting up such global…
Enabled and driven by modern advances in wireless telecommunication and artificial intelligence, the convergence of communication, computing, and control is becoming inevitable in future industrial applications. Analytical and optimizing…
In the last few years, lot of work has been done in order to ensure enterprise applications interoperability; however, proposed solutions focus mainly on enterprise processes. Indeed, throughout product lifecycle coordination needs to be…
The Industry 4.0 paradigm promises shorter development times, increased ergonomy, higher flexibility, and resource efficiency in manufacturing environments. Collaborative robots are an important tangible technology for implementing such a…
Construction frequently appears at the bottom of productivity charts with decreasing indexes of productivity over the years. Lack of innovation and delayed adoption, informal processes or insufficient rigor and consistency in process…
Modern Lightweight robots are constructed to be collaborative, which often results in a low structural stiffness compared to conventional rigid robots. Therefore, the controller must be able to handle the dynamic oscillatory effect mainly…
We propose a distributed model predictive control (MPC) framework for coordinating heterogeneous, nonlinear multi-agent systems under individual and coupling constraints. The cooperative task is encoded as a shared objective function…
Studies of human-robot interaction in dynamic and unstructured environments show that as more advanced robotic capabilities are deployed, the need for cooperative competencies to support collaboration with human problem-holders increases.…
This paper proposes a real-time model predictive control (MPC) scheme to execute multiple tasks using robots over a finite-time horizon. In industrial robotic applications, we must carefully consider multiple constraints for avoiding joint…
Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…
The transformation to smart factories and the automation of mobile robotics is partly driven by a growing availability of ubiquitous cloud technologies. In cyber-physical systems, such as control systems, critical parts can be migrated to a…
Industry 4.0 is changing fundamentally data collection, its storage and analysis in industrial processes, enabling novel application such as flexible manufacturing of highly customized products. Real-time control of these processes,…
This paper is concerned with the problem of controlling a system of constrained dynamic subsystems in a way that balances the performance degradation of decentralized control with the practical cost of centralized control. We propose a…
The rapid evolution of Cyber-Physical Systems (CPS) across various domains like mobility systems, networked control systems, sustainable manufacturing, smart power grids, and the Internet of Things necessitates innovative solutions that…
This paper presents a layered control approach for real-time trajectory planning and control of robust cooperative locomotion by two holonomically constrained quadrupedal robots. A novel interconnected network of reduced-order models, based…
This paper studies collaboration through the cloud in the context of cooperative adaptive control for robot manipulators. We first consider the case of multiple robots manipulating a common object through synchronous centralized update laws…
Today's era is characterized as the "digital transformation era". Digital processes and information systems are used in every aspect of social and business activity. The use of information technology over the internet is so extensive that…
Outsourcing of information and communication technologies (ICT) and related services is an established and growing industry. Recent trends, such as the move toward multi-sourcing have increased the complexity and risk of these outsourcing…
To provide robustness of distributed model predictive control (DMPC), this work proposes a robust DMPC formulation for discrete-time linear systems subject to unknown-but-bounded disturbances. Taking advantage of the structure of certain…