Coordinated transportation of a single object by multiple mobile robots without position information of each robot

Y. Hirata, K. Kosuge, H. Asama, H. Kaetsu, K. Kawabata

Research output: Contribution to conferencePaperpeer-review

19 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 mechanism and transportation of a single object by multiple mobile robots is realized without using the geometric relations among robots. The proposed control algorithm is experimentally applied to two mobile robots. Experimental results illustrate the validity of the proposed control algorithm.

Original languageEnglish
Pages2024-2029
Number of pages6
Publication statusPublished - 2000 Dec 1
Event2000 IEEE/RSJ International Conference on Intelligent Robots and Systems - Takamatsu, Japan
Duration: 2000 Oct 312000 Nov 5

Other

Other2000 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryJapan
CityTakamatsu
Period00/10/3100/11/5

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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