An algorithm for testing object caging condition by multiple mobile robots

Research output: Chapter in Book/Report/Conference proceedingConference contribution

23 Citations (Scopus)

Abstract

We address the manipulation of planar objects by multiple cooperating mobile robots using the concept of Object Closure, a 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. In this paper, we develop a distributed testing algorithm of object caging by multiple cooperative robots. By implementation of a complete testing based on the sufficient and necessary condition of Object Closure, the proposed algorithm works efficiently even for case to cage an irregular object.

Original languageEnglish
Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
PublisherIEEE Computer Society
Pages3022-3027
Number of pages6
ISBN (Print)0780389123, 9780780389120
DOIs
Publication statusPublished - 2005

Publication series

Name2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Keywords

  • Caging
  • Cooperative object handling
  • Distributed system
  • Object Closure

ASJC Scopus subject areas

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

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