Multirobot fleets play an important role in industrial logistics, surveillance, and exploration applications. A wide literature exists on the topic, both resorting to reactive (i.e. collision avoidance) and to deliberative (i.e. motion planning) techniques. In this work, null space-based inverse kinematics (NSB-IK) methods are applied to the problem of fleet management. Several NSB-IK approaches existing in the literature are reviewed, and compared with a reverse priority approach, which originated in manipulator control, and is here applied for the first time to the considered problem. All NSB-IK approaches are here described in a unified formalism, which allows (i) to encode the property of each controller into a set of seven main key features, (ii) to study possible new control laws with an opportune choice of these parameters. Furthermore, motivated by the envisioned application scenario, we tackle the problem of task-switching activation. Leveraging on the iCAT TPC technique Simetti and Casalino, 2016, in this article, we propose a method to obtain continuity in the control in face of activation or deactivation of tasks, and subtasks by defining suitable damped projection operators. The proposed approaches are evaluated formally, and via simulations. Performances with respect to standard methods are compared considering a specific case study for multivehicles management.

中文翻译：

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用于舰队管理的基于零空间的逆运动学技术：面向时变任务激活

多机器人车队在工业物流、监控和勘探应用中发挥着重要作用。关于该主题存在广泛的文献，既采用反应式（即避免碰撞）技术，也采用审议式（即运动规划）技术。在这项工作中，基于零空间的逆运动学 (NSB-IK) 方法应用于车队管理问题。回顾了文献中存在的几种 NSB-IK 方法，并与起源于机械手控制的反向优先方法进行了比较，这里首次应用于所考虑的问题。All NSB-IK approaches are here described in a unified formalism, which allows (i) to encode the property of each controller into a set of seven main key features, (ii) to study possible new control laws with an opportune choice of these parameters . 此外，在设想的应用场景的推动下，我们解决了任务切换激活的问题。利用 iCAT TPC 技术 Simetti 和 Casalino，2016，在本文中，我们提出了一种方法，通过定义合适的阻尼投影算子，在任务和子任务的激活或停用时获得控制的连续性。所提出的方法经过正式评估，并通过模拟进行评估。考虑到多车辆管理的特定案例研究，比较了与标准方法有关的性能。和子任务通过定义合适的阻尼投影算子。所提出的方法经过正式评估，并通过模拟进行评估。考虑到多车辆管理的特定案例研究，比较了与标准方法有关的性能。和子任务通过定义合适的阻尼投影算子。所提出的方法经过正式评估，并通过模拟进行评估。考虑到多车辆管理的特定案例研究，比较了与标准方法有关的性能。