Decentralized control of mobile robots in coordination

Yasuhisa Hirata, Kazuhiro Kosuge, Hajime Asama, Hayato Kaetsu, Kuniaki Kawabata

Research output: Contribution to conferencePaperpeer-review

3 Citations (Scopus)

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 languageEnglish
Pages1129-1134
Number of pages6
Publication statusPublished - 1999 Dec 1
EventProceedings 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 221999 Aug 27

Other

OtherProceedings of the 1999 IEEE International Conference on Control Applications (CCA) and IEEE International Symposium on Computer Aided Control System Design (CACSD)
CityKohala Coast, HI, USA
Period99/8/2299/8/27

ASJC Scopus subject areas

  • Control and Systems Engineering

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