# Achieving the Desired Dynamic Behavior in Multi-Robot Systems Interacting with the Environment

## TL;DR

This paper presents a methodology for controlling multi-robot systems to achieve desired dynamic behaviors during environmental interactions, ensuring safety through passivity preservation and validated via large-scale simulations.

## Contribution

It introduces a local scaling approach to inter-robot coupling that guarantees passivity and desired interaction behavior in multi-robot systems.

## Key findings

- Method guarantees passivity preservation during interactions.
- Simulation results demonstrate effectiveness in large-scale systems.
- Achieves desired dynamic behavior safely during environmental contact.

## Abstract

In this paper we consider the problem of controlling the dynamic behavior of a multi-robot system while interacting with the environment. In particular, we propose a general methodology that, by means of locally scaling inter-robot coupling relationships, leads to achieving a desired interactive behavior. The proposed method is shown to guarantee passivity preservation, which ensures a safe interaction. The performance of the proposed methodology is evaluated in simulation, over large-scale multi-robot systems.