Coordinated motion control of multiple robots without position information of each robot

Research output: Contribution to journalConference articlepeer-review

3 Citations (Scopus)

Abstract

In this paper, we propose a decentralized control algorithm of multiple mobile robots transporting a single object in coordination. In this algorithm, each robot is controlled as if it has a caster-like dynamics and transports a single object in coordination with other robots without using the geometric relations among robots. The proposed control algorithm is experimentally applied to multiple mobile robots. Experimental results illustrate the validity of the proposed control algorithm.

Original languageEnglish
Pages (from-to)346-351
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
Volume1
Publication statusPublished - 2000 Dec 1
Event39th IEEE Confernce on Decision and Control - Sydney, NSW, Australia
Duration: 2000 Dec 122000 Dec 15

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Control and Optimization

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