We proposed a decentralized control algorithm of multiple robots handling a single object in coordination. The motion command of the object is given to one of the robots, referred to as a leader, and the other robots referred to as followers estimate the motion of the leader by themselves through the motion of the object and handle the object based on the estimated reference. In this paper, the proposed control algorithm is experimentally applied to three omnidirectional mobile robots with three degrees of freedom of motion, and the results illustrate the validity of the proposed control algorithm.
|出版ステータス||Published - 1999 12月 1|
|イベント||Proceedings of the 1999 IEEE International Conference on Control Applications (CCA) and IEEE International Symposium on Computer Aided Control System Design (CACSD) - Kohala Coast, HI, USA|
継続期間: 1999 8月 22 → 1999 8月 27
|Other||Proceedings of the 1999 IEEE International Conference on Control Applications (CCA) and IEEE International Symposium on Computer Aided Control System Design (CACSD)|
|City||Kohala Coast, HI, USA|
|Period||99/8/22 → 99/8/27|
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