On the use of energy tanks for robotic systems

TL;DR

This paper reviews energy tanks in robotics, explaining their control framework, applications, and future challenges, providing a comprehensive overview for researchers interested in energy-aware control systems.

Contribution

It offers a clear introduction to energy tanks, summarizes their diverse applications, and discusses future challenges in energy-aware robotic control.

Findings

Energy tanks are effective in energy-aware control.

Applications span various robotic systems.

Future challenges include integration and scalability.

Abstract

In this document we describe and discuss energy tanks, a control algorithm which has gained popularity inside the robotics and control community over the last years. This article has the threefold scope of i) introducing to the reader the topic in a simple yet precise way, starting with a throughout description of the energy-aware framework, where energy tanks find their genesis; ii) summarising the range of applications of energy tanks, including an original reflection about different formulations of those; iii) discussing limits and future challenges involving energy tanks and energy-aware control in general.