Dynamic object closure by multiple mobile robots and random caging formation testing

Zhi Dong Wang; Yasuhisa Hirata; Kazuhiro Kosuge

doi:10.1109/IROS.2006.281725

Dynamic object closure by multiple mobile robots and random caging formation testing

Zhi Dong Wang, Yasuhisa Hirata, Kazuhiro Kosuge

ENG - Robotics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

17 Citations (Scopus)

Abstract

In this paper, we discuss the manipulation of planar objects by multiple cooperating mobile robots using the concept of Object Closure. It is the 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. We proposed the concept of Dynamic Object Closure for achieving object caging task that robots team is able to cage a moving object after a predefined time interval. A Random Caging Formation Testing algorithm (RCFT) is proposed for checking Dynamic Object Closure condition. Some simulation results are presented for illustrating the validity of the proposed algorithm.

Original language	English
Title of host publication	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages	3675-3681
Number of pages	7
DOIs	https://doi.org/10.1109/IROS.2006.281725
Publication status	Published - 2006
Event	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China Duration: 2006 Oct 9 → 2006 Oct 15

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems

Other

Other	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Country/Territory	China
City	Beijing
Period	06/10/9 → 06/10/15

Keywords

Cooperative object handling
Dynamic caging
Dynamic object closure

ASJC Scopus subject areas

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

Access to Document

10.1109/IROS.2006.281725

Cite this

Dynamic object closure by multiple mobile robots and random caging formation testing. / Wang, Zhi Dong; Hirata, Yasuhisa; Kosuge, Kazuhiro.

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006. 2006. p. 3675-3681 4058975 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Wang, ZD, Hirata, Y & Kosuge, K 2006, Dynamic object closure by multiple mobile robots and random caging formation testing. in 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006., 4058975, IEEE International Conference on Intelligent Robots and Systems, pp. 3675-3681, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006, Beijing, China, 06/10/9. https://doi.org/10.1109/IROS.2006.281725

@inproceedings{20c083f91fdc4599813562b442d5ec57,

title = "Dynamic object closure by multiple mobile robots and random caging formation testing",

abstract = "In this paper, we discuss the manipulation of planar objects by multiple cooperating mobile robots using the concept of Object Closure. It is the 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. We proposed the concept of Dynamic Object Closure for achieving object caging task that robots team is able to cage a moving object after a predefined time interval. A Random Caging Formation Testing algorithm (RCFT) is proposed for checking Dynamic Object Closure condition. Some simulation results are presented for illustrating the validity of the proposed algorithm.",

keywords = "Cooperative object handling, Dynamic caging, Dynamic object closure",

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

year = "2006",

doi = "10.1109/IROS.2006.281725",

language = "English",

isbn = "142440259X",

series = "IEEE International Conference on Intelligent Robots and Systems",

pages = "3675--3681",

booktitle = "2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006",

note = "2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 ; Conference date: 09-10-2006 Through 15-10-2006",

}

TY - GEN

T1 - Dynamic object closure by multiple mobile robots and random caging formation testing

AU - Wang, Zhi Dong

AU - Hirata, Yasuhisa

AU - Kosuge, Kazuhiro

PY - 2006

Y1 - 2006

N2 - In this paper, we discuss the manipulation of planar objects by multiple cooperating mobile robots using the concept of Object Closure. It is the 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. We proposed the concept of Dynamic Object Closure for achieving object caging task that robots team is able to cage a moving object after a predefined time interval. A Random Caging Formation Testing algorithm (RCFT) is proposed for checking Dynamic Object Closure condition. Some simulation results are presented for illustrating the validity of the proposed algorithm.

AB - In this paper, we discuss the manipulation of planar objects by multiple cooperating mobile robots using the concept of Object Closure. It is the 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. We proposed the concept of Dynamic Object Closure for achieving object caging task that robots team is able to cage a moving object after a predefined time interval. A Random Caging Formation Testing algorithm (RCFT) is proposed for checking Dynamic Object Closure condition. Some simulation results are presented for illustrating the validity of the proposed algorithm.

KW - Cooperative object handling

KW - Dynamic caging

KW - Dynamic object closure

UR - http://www.scopus.com/inward/record.url?scp=34250618596&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=34250618596&partnerID=8YFLogxK

U2 - 10.1109/IROS.2006.281725

DO - 10.1109/IROS.2006.281725

M3 - Conference contribution

AN - SCOPUS:34250618596

SN - 142440259X

SN - 9781424402595

T3 - IEEE International Conference on Intelligent Robots and Systems

SP - 3675

EP - 3681

BT - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006

T2 - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006

Y2 - 9 October 2006 through 15 October 2006

ER -

Dynamic object closure by multiple mobile robots and random caging formation testing

Abstract

Publication series

Other

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this