Motion control of multiple autonomous mobile robots handling a large object in coordination

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

Motion control of multiple autonomous mobile robots handling a large object in coordination

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

ENG - Robotics

Research output: Contribution to journal › Conference article › peer-review

48 Citations (Scopus)

Abstract

In this paper, we discuss a problem relating to the force/moment transformation for the handling of a large object by multiple mobile robots in coordination. We propose a control algorithm using geometrical constraints among the grasping points and the representative point of the object, which reduce the effect of noise amplified by force/moment transformation. We extend this algorithm to the decentralized control algorithm of multiple robots handling an object in coordination. The proposed control algorithm is experimentally applied to the mobile robots. Experimental results illustrate the validity of the proposed control algorithm.

Original language	English
Pages (from-to)	2666-2673
Number of pages	8
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	4
Publication status	Published - 1999 Jan 1
Event	Proceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA Duration: 1999 May 10 → 1999 May 15

ASJC Scopus subject areas

Software
Control and Systems Engineering

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abstract = "In this paper, we discuss a problem relating to the force/moment transformation for the handling of a large object by multiple mobile robots in coordination. We propose a control algorithm using geometrical constraints among the grasping points and the representative point of the object, which reduce the effect of noise amplified by force/moment transformation. We extend this algorithm to the decentralized control algorithm of multiple robots handling an object in coordination. The proposed control algorithm is experimentally applied to the mobile robots. Experimental results illustrate the validity of the proposed control algorithm.",

author = "Kazuhiro Kosuge and Yasuhisa Hirata and Hajime Asama and Hayato Kaetsu and Kuniaki Kawabata",

year = "1999",

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journal = "Proceedings - IEEE International Conference on Robotics and Automation",

issn = "1050-4729",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "Proceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 ; Conference date: 10-05-1999 Through 15-05-1999",

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T1 - Motion control of multiple autonomous mobile robots handling a large object in coordination

AU - Kosuge, Kazuhiro

AU - Hirata, Yasuhisa

AU - Asama, Hajime

AU - Kaetsu, Hayato

AU - Kawabata, Kuniaki

PY - 1999/1/1

Y1 - 1999/1/1

N2 - In this paper, we discuss a problem relating to the force/moment transformation for the handling of a large object by multiple mobile robots in coordination. We propose a control algorithm using geometrical constraints among the grasping points and the representative point of the object, which reduce the effect of noise amplified by force/moment transformation. We extend this algorithm to the decentralized control algorithm of multiple robots handling an object in coordination. The proposed control algorithm is experimentally applied to the mobile robots. Experimental results illustrate the validity of the proposed control algorithm.

AB - In this paper, we discuss a problem relating to the force/moment transformation for the handling of a large object by multiple mobile robots in coordination. We propose a control algorithm using geometrical constraints among the grasping points and the representative point of the object, which reduce the effect of noise amplified by force/moment transformation. We extend this algorithm to the decentralized control algorithm of multiple robots handling an object in coordination. The proposed control algorithm is experimentally applied to the mobile robots. Experimental results illustrate the validity of the proposed control algorithm.

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UR - http://www.scopus.com/inward/citedby.url?scp=0032661145&partnerID=8YFLogxK

M3 - Conference article

AN - SCOPUS:0032661145

VL - 4

SP - 2666

EP - 2673

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

SN - 1050-4729

T2 - Proceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99

Y2 - 10 May 1999 through 15 May 1999

ER -

Motion control of multiple autonomous mobile robots handling a large object in coordination

Abstract

ASJC Scopus subject areas

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