Symbolic dynamic modelling and analysis of object/robot-team systems with experiments

摘要

This paper presents an approach for the symbolic dynamic modelling of object/robot-team systems composed of an object manipulated by a team of r robots. The modelling approach merges the dynamic models of the object and robots into a system model. Derivations show that the system acceleration can be computed with complexity proportional to r. This paper demonstrates in a detailed example with physical experiments how the modelling approach can be used for symbolic analysis of a closed-loop object/robot-team system.