Abstract
We proposed a decentralized control algorithm of multiple robots handling a single object in coordination. The motion command of the object is given to one of the robots, referred to as a leader, and the other robots referred to as followers estimate the motion of the leader by themselves through the motion of the object and handle the object based on the estimated reference. In this paper, the proposed control algorithm is experimentally applied to three omnidirectional mobile robots with three degrees of freedom of motion, and the results illustrate the validity of the proposed control algorithm.
| Original language | English |
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| Pages | 1129-1134 |
| Number of pages | 6 |
| Publication status | Published - 1999 Dec 1 |
| Event | Proceedings of the 1999 IEEE International Conference on Control Applications (CCA) and IEEE International Symposium on Computer Aided Control System Design (CACSD) - Kohala Coast, HI, USA Duration: 1999 Aug 22 → 1999 Aug 27 |
Other
| Other | Proceedings of the 1999 IEEE International Conference on Control Applications (CCA) and IEEE International Symposium on Computer Aided Control System Design (CACSD) |
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| City | Kohala Coast, HI, USA |
| Period | 99/8/22 → 99/8/27 |
ASJC Scopus subject areas
- Control and Systems Engineering