A path planning method for dynamic object closure by using random caging formation testing

Zhi Dong Wang; Hidenori Matsumoto; Yasuhisa Hirata; Kazuhiro Kosuge

doi:10.1109/IROS.2009.5353999

A path planning method for dynamic object closure by using random caging formation testing

Zhi Dong Wang, Hidenori Matsumoto, Yasuhisa Hirata, Kazuhiro Kosuge

ENG - Robotics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

12 Citations (Scopus)

Abstract

Object manipulation problem by multiple cooperating mobile robots using the concept of Object Closure is discussed in the paper. It is the condition under which the object is trapped so that there is no feasible path for the object from the given position to any position that is beyond a specified threshold distance during the transportation. We proposed the concept of Dynamic Object Closure for achieving object caging task that robots team is able to cage a moving object after a predefined time interval. In the paper, a method planning caging path and by using Random Caging Formation Path Determination algorithm (RCFP) is proposed for achieving Dynamic Object Closure. Some planning results are presented for illustrating the validity of the proposed algorithm.

Original language	English
Title of host publication	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages	5923-5929
Number of pages	7
DOIs	https://doi.org/10.1109/IROS.2009.5353999
Publication status	Published - 2009 Dec 11
Event	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States Duration: 2009 Oct 11 → 2009 Oct 15

Publication series

Name	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Other

Other	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Country/Territory	United States
City	St. Louis, MO
Period	09/10/11 → 09/10/15

Keywords

Cooperative object handling
Dynamic Object Closure
Dynamic caging
Path planning

ASJC Scopus subject areas

Artificial Intelligence
Computer Vision and Pattern Recognition
Human-Computer Interaction
Control and Systems Engineering

Access to Document

10.1109/IROS.2009.5353999

Cite this

Wang, Z. D., Matsumoto, H., Hirata, Y., & Kosuge, K. (2009). A path planning method for dynamic object closure by using random caging formation testing. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 (pp. 5923-5929). [5353999] (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009). https://doi.org/10.1109/IROS.2009.5353999

A path planning method for dynamic object closure by using random caging formation testing. / Wang, Zhi Dong; Matsumoto, Hidenori; Hirata, Yasuhisa et al.

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2009. p. 5923-5929 5353999 (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Wang, ZD, Matsumoto, H, Hirata, Y & Kosuge, K 2009, A path planning method for dynamic object closure by using random caging formation testing. in 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009., 5353999, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, pp. 5923-5929, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, St. Louis, MO, United States, 09/10/11. https://doi.org/10.1109/IROS.2009.5353999

@inproceedings{c5065c8120ed4456978b050be44c7b67,

title = "A path planning method for dynamic object closure by using random caging formation testing",

abstract = "Object manipulation problem by multiple cooperating mobile robots using the concept of Object Closure is discussed in the paper. It is the condition under which the object is trapped so that there is no feasible path for the object from the given position to any position that is beyond a specified threshold distance during the transportation. We proposed the concept of Dynamic Object Closure for achieving object caging task that robots team is able to cage a moving object after a predefined time interval. In the paper, a method planning caging path and by using Random Caging Formation Path Determination algorithm (RCFP) is proposed for achieving Dynamic Object Closure. Some planning results are presented for illustrating the validity of the proposed algorithm.",

keywords = "Cooperative object handling, Dynamic Object Closure, Dynamic caging, Path planning",

author = "Wang, {Zhi Dong} and Hidenori Matsumoto and Yasuhisa Hirata and Kazuhiro Kosuge",

year = "2009",

month = dec,

day = "11",

doi = "10.1109/IROS.2009.5353999",

language = "English",

isbn = "9781424438044",

series = "2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009",

pages = "5923--5929",

booktitle = "2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009",

note = "2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 ; Conference date: 11-10-2009 Through 15-10-2009",

}

TY - GEN

T1 - A path planning method for dynamic object closure by using random caging formation testing

AU - Wang, Zhi Dong

AU - Matsumoto, Hidenori

AU - Hirata, Yasuhisa

AU - Kosuge, Kazuhiro

PY - 2009/12/11

Y1 - 2009/12/11

N2 - Object manipulation problem by multiple cooperating mobile robots using the concept of Object Closure is discussed in the paper. It is the condition under which the object is trapped so that there is no feasible path for the object from the given position to any position that is beyond a specified threshold distance during the transportation. We proposed the concept of Dynamic Object Closure for achieving object caging task that robots team is able to cage a moving object after a predefined time interval. In the paper, a method planning caging path and by using Random Caging Formation Path Determination algorithm (RCFP) is proposed for achieving Dynamic Object Closure. Some planning results are presented for illustrating the validity of the proposed algorithm.

AB - Object manipulation problem by multiple cooperating mobile robots using the concept of Object Closure is discussed in the paper. It is the condition under which the object is trapped so that there is no feasible path for the object from the given position to any position that is beyond a specified threshold distance during the transportation. We proposed the concept of Dynamic Object Closure for achieving object caging task that robots team is able to cage a moving object after a predefined time interval. In the paper, a method planning caging path and by using Random Caging Formation Path Determination algorithm (RCFP) is proposed for achieving Dynamic Object Closure. Some planning results are presented for illustrating the validity of the proposed algorithm.

KW - Cooperative object handling

KW - Dynamic Object Closure

KW - Dynamic caging

KW - Path planning

UR - http://www.scopus.com/inward/record.url?scp=76249126373&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=76249126373&partnerID=8YFLogxK

U2 - 10.1109/IROS.2009.5353999

DO - 10.1109/IROS.2009.5353999

M3 - Conference contribution

AN - SCOPUS:76249126373

SN - 9781424438044

T3 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

SP - 5923

EP - 5929

BT - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

T2 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Y2 - 11 October 2009 through 15 October 2009

ER -

A path planning method for dynamic object closure by using random caging formation testing

Abstract

Publication series

Other

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this