TY - JOUR
T1 - Approach towards decentralized control of cooperating non-autonomous multiple robots
AU - Munawar, Khalid
AU - Esashi, Masayoshi
AU - Uchiyama, Masaru
N1 - Copyright:
Copyright 2004 Elsevier Science B.V., Amsterdam. All rights reserved.
PY - 2000/9
Y1 - 2000/9
N2 - This paper introduces an event-based decentralized control scheme for the cooperation between multiple manipulators. This is in contrast to the common practice of using only centralized controls for such cooperation which, consequently, greatly limit the flexibility of robotic systems. The manipulators used in the present system are very simple with only two degrees of freedom, while even one of them is passive. Moreover these manipulators use very few and commonly available sensors only. Computer simulations indicated the applicability of the event-based decentralized control scheme for multi-manipulator cooperation, while real-life experimental implementation has proved that the proposed decentralized control scheme is fairly applicable for very simple and even under-actuated systems too. Hence, this work has opened new doors towards further research in this area. The proposed control scheme is expected to be equally applicable for any mobile or immobile multi-robotic system.
AB - This paper introduces an event-based decentralized control scheme for the cooperation between multiple manipulators. This is in contrast to the common practice of using only centralized controls for such cooperation which, consequently, greatly limit the flexibility of robotic systems. The manipulators used in the present system are very simple with only two degrees of freedom, while even one of them is passive. Moreover these manipulators use very few and commonly available sensors only. Computer simulations indicated the applicability of the event-based decentralized control scheme for multi-manipulator cooperation, while real-life experimental implementation has proved that the proposed decentralized control scheme is fairly applicable for very simple and even under-actuated systems too. Hence, this work has opened new doors towards further research in this area. The proposed control scheme is expected to be equally applicable for any mobile or immobile multi-robotic system.
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U2 - 10.1017/S0263574799002386
DO - 10.1017/S0263574799002386
M3 - Article
AN - SCOPUS:0034269587
VL - 18
SP - 495
EP - 504
JO - Robotica
JF - Robotica
SN - 0263-5747
IS - 5
ER -