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Main Authors:	Hu, Bin-Bin, Jayawardhana, Bayu, Cao, Ming
Format:	Preprint
Published:	2025
Subjects:	Robotics
Online Access:	https://arxiv.org/abs/2506.13198
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author	Hu, Bin-Bin Jayawardhana, Bayu Cao, Ming
author_facet	Hu, Bin-Bin Jayawardhana, Bayu Cao, Ming
contents	In this paper, we propose an equilibrium-driven controller that enables a marsupial carrier-passenger robotic system to achieve smooth carrier-passenger separation and then to navigate the passenger robot toward a predetermined target point. Particularly, we design a potential gradient in the form of a cubic polynomial for the passenger's controller as a function of the carrier-passenger and carrier-target distances in the moving carrier's frame. This introduces multiple equilibrium points corresponding to the zero state of the error dynamic system during carrier-passenger separation. The change of equilibrium points is associated with the change in their attraction regions, enabling smooth carrier-passenger separation and afterwards seamless navigation toward the target. Finally, simulations demonstrate the effectiveness and adaptability of the proposed controller in environments containing obstacles.
format	Preprint
id	arxiv_https___arxiv_org_abs_2506_13198
institution	arXiv
publishDate	2025
record_format	arxiv
spellingShingle	Equilibrium-Driven Smooth Separation and Navigation of Marsupial Robotic Systems Hu, Bin-Bin Jayawardhana, Bayu Cao, Ming Robotics In this paper, we propose an equilibrium-driven controller that enables a marsupial carrier-passenger robotic system to achieve smooth carrier-passenger separation and then to navigate the passenger robot toward a predetermined target point. Particularly, we design a potential gradient in the form of a cubic polynomial for the passenger's controller as a function of the carrier-passenger and carrier-target distances in the moving carrier's frame. This introduces multiple equilibrium points corresponding to the zero state of the error dynamic system during carrier-passenger separation. The change of equilibrium points is associated with the change in their attraction regions, enabling smooth carrier-passenger separation and afterwards seamless navigation toward the target. Finally, simulations demonstrate the effectiveness and adaptability of the proposed controller in environments containing obstacles.
title	Equilibrium-Driven Smooth Separation and Navigation of Marsupial Robotic Systems
topic	Robotics
url	https://arxiv.org/abs/2506.13198

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