Steering a Swarm of Large-Scale Underactuated Mechanical Systems Using a Generalized Coordinates Transformation

Steering large-scale particle or robot systems is challenging because of their high dimensionality. We use a centralized stochastic approach that allows for optimal control at the cost central element instead decentralized approach. Previous works are often restricted to assumption fully actuated robots. Here we propose an underactuated robots energy-efficient system. consider simple task gathering (minimizing positional variance) and steering them towards goal point within bounded area without obstacles. make two main contributions. First, present generalized coordinate transformation robots, whose physical properties should be considered. choose Euler-Lagrange describe large class systems. Second, mechanism with prime objective energy efficiency. show feasibility our in simulations.