Handling of a single object by multiple mobile robots based on caster-like dynamics

Yasuhisa Hirata, Youhei Kume, Zhi Dong Wang, Kazuhiro Kosuge

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

When we consider a coordination of multiple mobile robots, it is difficult to know the geometric relations among them. Errors in position and orientation of each robot detected by dead reckoning system are inevitable because of the slippage between wheels and the ground. To overcome these problems, in this article, we introduce a caster-like dynamics for controlling the multiple mobile robots in coordination. By using the caster-like dynamics, multiple mobile robots could handle a single object without using the geometric relations among them and the shape of the object. The effectiveness of the caster-like dynamics is illustrated through the video in which several types mobile robots handle a single object in coordination.

Original languageEnglish
Title of host publication2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Pages2215-2216
Number of pages2
DOIs
Publication statusPublished - 2008 Sep 18
Event2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States
Duration: 2008 May 192008 May 23

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2008 IEEE International Conference on Robotics and Automation, ICRA 2008
CountryUnited States
CityPasadena, CA
Period08/5/1908/5/23

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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