外观
论文arXiv 2607.170073 个月前
面向四足机器人协同运输的基于ADMM的安全关键分布式NMPC
原文链接：ADMM-Based Safety-Critical Distributed NMPC for Cooperative Transportation by Quadrupedal Robots（arXiv 2607.17007 · 发布日期：2026-07-18）
ADMM-Based Safety-Critical Distributed NMPC for Cooperative Transportation by Quadrupedal Robots
针对四足机器人团队协同搬运载荷，提出ADMM分布式NMPC，并在仿真与多机器人真机实验中验证安全鲁棒运输。
核心要点
- 面向共享载荷协同运输，将机器人团队与载荷建模为具有刚性完整耦合约束的动态耦合网络系统。
- 将集中式有限时域最优控制分解为并行局部NMPC子问题，并用ADMM协调载荷状态和交互力轨迹一致性。
- 在分布式预测控制中显式加入加速度级完整约束，并用高阶控制屏障函数处理机器人和载荷避障安全约束。
- 仿真和真机结果显示，相比集中式NMPC平均NLP求解时间最多降低23%，且保持相近闭环性能；消融表明对通信延迟具鲁棒性。
验证范围与局限：验证范围包括二、三、四机仿真及二、三机真机协同载荷运输，涉及杂乱环境、载荷不确定和外部扰动。
英文摘要 (Abstract)
This paper presents a safety-critical distributed nonlinear model predictive control (DNMPC) framework for cooperative payload transportation by teams of quadrupedal robots. The proposed approach models the robotic team and the shared payload as a dynamically coupled networked system with rigid holonomic coupling constraints arising from cooperative transportation. To enable distributed real-time optimization, the centralized finite-horizon optimal control problem is decomposed into parallel local NMPC subproblems coordinated through the alternating direction method of multipliers (ADMM). The resulting distributed framework enforces consensus over both payload-state and interaction-wrench trajectories while explicitly incorporating acceleration-level holonomic coupling constraints within the distributed predictive control formulation. Safety-critical obstacle avoidance constraints for both the robotic agents and payload are enforced using higher-order control barrier functions (HOCBFs). The framework is validated through numerical simulations with teams of two, three, and four quadrupedal robots transporting shared payloads in cluttered environments. Real-time experiments on two- and three-robot teams demonstrate safe and robust transportation under payload uncertainty and external disturbances. Compared with centralized NMPC, the proposed framework achieves up to 23% reduction in average NLP solve time while maintaining comparable closed-loop performance. Ablation studies further demonstrate robustness to communication delays and show that explicit payload-state consensus and holonomic constraints substantially improve payload tracking and distributed coordination over existing wrench-only consensus formulations.
作者：Ruturaj Sambhus, Kapi Ketan Mehta, Yicheng Zeng, Kaveh Akabri Hamed
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