Safety-Critical End-Effector Formation Control for Planar Underactuated Manipulators

While networked multi-agent systems have been widely explored, the challenges introduced by underactuation still impede safety-critical cooperative control of multiple underactuated manipulators. This paper introduces a distributed framework for end-effector formation control and obstacle avoidance...

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Detalhes bibliográficos

Principais autores:	Zhiyu Peng, Xin Xin
Formato:	Artigo
Idioma:	Inglês
Publicado em:	MDPI AG 2025-09-01
coleção:	Actuators
Assuntos:	underactuated manipulators distributed formation control networked multi-agent systems robust control barrier functions obstacle avoidance
Acesso em linha:	https://www.mdpi.com/2076-0825/14/10/475
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