Fully Distributed Cooperation for Networked Uncertain Mobile Manipulators

Average-Position Coordination for Distributed Multi-User Networked Haptic Cooperation

Proportional-derivative (PD) control is often used to coordinate the two copies of the virtual environment in distributed two-users networked haptic cooperation. However, a distributed PD controller designed for force interactions between two users may destabilize the haptic cooperation among multiple users because the effective coordination gain for each local copy of the virtual environment i...

Fully Distributed and Asynchronized Stochastic Gradient Descent for Networked Systems

This paper considers a general data-fitting problem over a networked system, in which many computing nodes are connected by an undirected graph. This kind of problem can find many real-world applications and has been studied extensively in the literature. However, existing solutions either need a central controller for information sharing or requires slot synchronization among different nodes, ...

Coordination and decentralized cooperation of multiple mobile manipulators

Mobile manipulation capabilities are key to many new applications of robotics in space, underwater, construction, and service environments. This article discusses the ongoing effort at Stanford University for the development of multiple mobile manipulation systems and presents the basic models and methodologies for their analysis and control. This work builds on four methodologies we have previ...

Towards Modular Cooperation between Multiple Nonholonomic Mobile Manipulators

Mobile Processes: Enhancing Cooperation in Distributed Mobile Environments

Currently, context awareness is one of the main trends in distributed mobile computing environments. Against this background, the demand for more complex – and additionally long-term – mobile applications increases continuously. Nevertheless, most current available mobile applications – as well as their supporting middleware platforms – are still relatively monolithic and closed systems, concen...