star2dust / cooperative-control-safety-constraints

Codes for the paper "Distributed Cooperative Control of Redundant Mobile Manipulators With Safety Constraints". IEEE Transactions on Cybernetics 2021 | Journal article. DOI: 10.1109/tcyb.2021.3104044

Distributed Cooperative Control of Redundant Mobile Manipulators With Safety Constraints

This repo contains the simulation codes for the distributed cooperative control of multiple mobile manipulator systems.

Related Paper

Distributed Cooperative Control of Redundant Mobile Manipulators With Safety Constraints.

IEEE Transactions on Cybernetics 2021. DOI: 10.1109/tcyb.2021.3104044.

Run The Simulation

• Install RTE by following the procedures in https://github.com/star2dust/Robotics-Toolbox

• Run "main_robot_simu.m"

Simulation Result

The simulation result should be like this:

For more results and videos, See in Youtube.