Equilibrium-Driven Smooth Separation and Navigation of Marsupial Robotic Systems
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arXiv
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| Autores principales: | , , |
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| Formato: | Preprint |
| Publicado: |
2025
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| _version_ | 1866915346465685504 |
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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 |