Deformable caging formation control for cooperative object transporation by multiple mobile robots

Zhi Dong Wang, Yasuhisa Hirata, Kazuhiro Kosuge

研究成果: Paper査読

6 被引用数 (Scopus)

抄録

This paper addresses the problem of multi-robots object transportation by using the concept of Object Closure. In contrast to Form or Force Closure used, Object Closure is a 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. Once Object Closure is achieved, the robots can cooperatively drag or flow the trapped object to the desired goal. In this paper, the Object Closure Margin used to decide the caging formation is addressed and a decentralized control algorithm to perform a large object handling by controlling the density of robots in the caging formation is proposed.

本文言語English
ページ1158-1163
ページ数6
出版ステータスPublished - 2005 11 16
イベントProceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005 - Monterey, CA, United States
継続期間: 2005 7 242005 7 28

Other

OtherProceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005
国/地域United States
CityMonterey, CA
Period05/7/2405/7/28

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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