Deformable caging formation control for cooperative object transporation by multiple mobile robots

Zhi Dong Wang; Yasuhisa Hirata; Kazuhiro Kosuge

Deformable caging formation control for cooperative object transporation by multiple mobile robots

Zhi Dong Wang, Yasuhisa Hirata, Kazuhiro Kosuge

ENG - Robotics

Research output: Contribution to conference › Paper › peer-review

6 Citations (Scopus)

Abstract

This paper addresses the problem of multi-robots object transportation by using the concept of Object Closure. In contrast to Form or Force Closure used, Object Closure is 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. Once Object Closure is achieved, the robots can cooperatively drag or flow the trapped object to the desired goal. In this paper, the Object Closure Margin used to decide the caging formation is addressed and a decentralized control algorithm to perform a large object handling by controlling the density of robots in the caging formation is proposed.

Original language	English
Pages	1158-1163
Number of pages	6
Publication status	Published - 2005 Nov 16
Event	Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005 - Monterey, CA, United States Duration: 2005 Jul 24 → 2005 Jul 28

Other

Other	Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005
Country	United States
City	Monterey, CA
Period	05/7/24 → 05/7/28

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Science Applications
Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Deformable caging formation control for cooperative object transporation by multiple mobile robots'. Together they form a unique fingerprint.

Cite this

Deformable caging formation control for cooperative object transporation by multiple mobile robots. / Wang, Zhi Dong; Hirata, Yasuhisa ; Kosuge, Kazuhiro.

2005. 1158-1163 Paper presented at Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005, Monterey, CA, United States.

Research output: Contribution to conference › Paper › peer-review

@conference{f9fcef8f96c0400c80bb19c2a23c7e1f,

title = "Deformable caging formation control for cooperative object transporation by multiple mobile robots",

abstract = "This paper addresses the problem of multi-robots object transportation by using the concept of Object Closure. In contrast to Form or Force Closure used, Object Closure is 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. Once Object Closure is achieved, the robots can cooperatively drag or flow the trapped object to the desired goal. In this paper, the Object Closure Margin used to decide the caging formation is addressed and a decentralized control algorithm to perform a large object handling by controlling the density of robots in the caging formation is proposed.",

author = "Wang, {Zhi Dong} and Yasuhisa Hirata and Kazuhiro Kosuge",

year = "2005",

month = nov,

day = "16",

language = "English",

pages = "1158--1163",

note = "Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005 ; Conference date: 24-07-2005 Through 28-07-2005",

}

TY - CONF

T1 - Deformable caging formation control for cooperative object transporation by multiple mobile robots

AU - Wang, Zhi Dong

AU - Hirata, Yasuhisa

AU - Kosuge, Kazuhiro

PY - 2005/11/16

Y1 - 2005/11/16

N2 - This paper addresses the problem of multi-robots object transportation by using the concept of Object Closure. In contrast to Form or Force Closure used, Object Closure is 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. Once Object Closure is achieved, the robots can cooperatively drag or flow the trapped object to the desired goal. In this paper, the Object Closure Margin used to decide the caging formation is addressed and a decentralized control algorithm to perform a large object handling by controlling the density of robots in the caging formation is proposed.

AB - This paper addresses the problem of multi-robots object transportation by using the concept of Object Closure. In contrast to Form or Force Closure used, Object Closure is 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. Once Object Closure is achieved, the robots can cooperatively drag or flow the trapped object to the desired goal. In this paper, the Object Closure Margin used to decide the caging formation is addressed and a decentralized control algorithm to perform a large object handling by controlling the density of robots in the caging formation is proposed.

UR - http://www.scopus.com/inward/record.url?scp=27644479225&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=27644479225&partnerID=8YFLogxK

M3 - Paper

AN - SCOPUS:27644479225

SP - 1158

EP - 1163

T2 - Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005

Y2 - 24 July 2005 through 28 July 2005

ER -

Deformable caging formation control for cooperative object transporation by multiple mobile robots

Abstract

Other

ASJC Scopus subject areas

Other files and links

Cite this