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Transfer control of a large object by a group of mobile robots

Transfer control of a large object by a group of mobile robots,10.1016/S0921-8890(99)00032-9,Robotics and Autonomous Systems,Jun Ota,Tamio Arai

Transfer control of a large object by a group of mobile robots   (Citations: 7)
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In this paper, the authors propose a practical cooperative planning architecture of multiple mobile robots by means of a layered architecture consisting of a physical layer, a geometrical layer, and an informational layer. A “Virtual Impedance Model” is used in order to integrate the three layers. The effectiveness of the proposed architecture is verified by experiments and simulations on the task of transferring a large object by multiple mobile robots.
Journal: Robotics and Autonomous Systems - RaS , vol. 28, no. 4, pp. 271-280, 1999
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    • ...In many applications, such as transporting goods (Ota and Arai, 1999; Wang et al., 2004) and patrolling (Mas et al., 2009), mobile robots are required to maintain a given shape of formation while executing their tasks...
    • ...Take a large object transport task for example: to keep the object moving to its destination or target, robots that are holding the object need to keep strict relative positions and orientations to their neighbors (Ota and Arai, 1999; Gerkey and Mataric, 2002; Wang et al., 2004)...

    Fan Yanget al. Cooperative transport strategy for formation control of multiple mobil...

    • ...[11, 16] considered control transfer of objects under obstacle-existing environment by using mobile cooperative robots...

    Honghai Liuet al. Parametric Planning for Multiple Cooperative Robots

    • ...The follower robot at least has three basic levels of competence for the cooperative transportation task: (1) keeping a constant distance from the leader; (2) keeping the desired posture of the object; (3) avoiding obstacles...

    Xin Yanget al. Coordinated transportation of a single object by two nonholonomic mobi...

    • ...(Johnson & Bay, 1995; Boehringer et al., 1995; Mataric, Nilsson, & Simsarian, 1995; Ghanea-Hercock & Barnes, 1996; Khatib, 1999; Ota & Arai, 1999; Humberstone & Smith, 2000; Kube & Bonabeau, 2000; Wang, Kimura, Takahashi, & Nakano, 2000) and the experiment presented in this article, the task may even require collaboration to be successfully performed, with single robots not being able to carry out the task ...
    • ...force and torque sensors) and models of the dynamics of the robot-to-environment interaction (Boehringer et al., 1995; Khatib, 1999; Ota & Arai, 1999)...
    • ...Although quantitative analysis is often missing in related research, we believe that the importance of the ratio between number of workers and amount of work can be generalized to a whole range of similar collaborative tasks, including object-pushing (Parker, 1994; Boehringer et al., 1995; Mataric et al., 1995; Wang et al., 2000), transportation (Johnson & Bay, 1995; Ghanea-Hercock & Barnes, 1996; Ota & Arai, 1999; Humberstone ...

    Auke Jan Ijspeertet al. Collaboration Through the Exploitation of Local Interactions in Autono...

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