Boundary Stabilization of Underground Multirobot System with Virtual String Constraints

Figure 1

Widely applied scenarios of MPO. (a) Flood shield immobilized by multiple fixed oblique supports. (b) Flood shield immobilized by multiple flexible oblique supports. (c) Flood shield immobilized by multiple vertical supports. (d) Retaining wall supported by multiple bars. (e) Multiple link model-based person held by the two-arm service robot. (f) The simulated workplace of multiple MTs manipulated by MSRs on the ground. The scraper conveyor is composed of many middle troughs (MTs) and each MT is connected with other. MSRs push corresponding MT forward. (g) The diagram of the multirobot system with MPO. (h) Generalized system architecture of the multirobot system, whose manipulating object is replaced with virtual external string. (i) Simulated external constraints through virtual connected string, and both the disturbance and antidamping are presented.