Multi-target Optimal Control Problems for a Tentacle-like Soft Manipulator

Simone Cacace, Anna Lai, Paola Loreti

2021

Abstract

We investigate the optimality of the configurations of a tentacle-like soft manipulator ensuring the contact with a target object, while avoiding an obstacle. The main novelty consists in treating the contact sub-region of the manipulator as an unknown of the problem and, at the same time, in allowing the target to be disconnected. We set the optimization problem in full generality, then we focus on the case of a multi-target problem, in which the goal is to simultaneously reach a finite set of points. Numerical simulations complete the paper.

Paper Citation

in Harvard Style

Cacace S., Lai A. and Loreti P. (2021). Multi-target Optimal Control Problems for a Tentacle-like Soft Manipulator. In Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-522-7, pages 39-48. DOI: 10.5220/0010533400390048

in Bibtex Style

@conference{icinco21,
author={Simone Cacace and Anna Lai and Paola Loreti},
title={Multi-target Optimal Control Problems for a Tentacle-like Soft Manipulator},
booktitle={Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2021},
pages={39-48},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010533400390048},
isbn={978-989-758-522-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Multi-target Optimal Control Problems for a Tentacle-like Soft Manipulator
SN - 978-989-758-522-7
AU - Cacace S.
AU - Lai A.
AU - Loreti P.
PY - 2021
SP - 39
EP - 48
DO - 10.5220/0010533400390048