TY - GEN
T1 - A path planning method for dynamic object closure by using random caging formation testing
AU - Wang, ZhiDong
AU - Matsumoto, Hidenori
AU - Hirata, Yasuhisa
AU - Kosuge, Kazuhiro
N1 - Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].
PY - 2009/12/11
Y1 - 2009/12/11
N2 - Object manipulation problem by multiple cooperating mobile robots using the concept of Object Closure is discussed in the paper. It is the 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 during the transportation. We proposed the concept of Dynamic Object Closure for achieving object caging task that robots team is able to cage a moving object after a predefined time interval. In the paper, a method planning caging path and by using Random Caging Formation Path Determination algorithm (RCFP) is proposed for achieving Dynamic Object Closure. Some planning results are presented for illustrating the validity of the proposed algorithm. © 2009 IEEE.
AB - Object manipulation problem by multiple cooperating mobile robots using the concept of Object Closure is discussed in the paper. It is the 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 during the transportation. We proposed the concept of Dynamic Object Closure for achieving object caging task that robots team is able to cage a moving object after a predefined time interval. In the paper, a method planning caging path and by using Random Caging Formation Path Determination algorithm (RCFP) is proposed for achieving Dynamic Object Closure. Some planning results are presented for illustrating the validity of the proposed algorithm. © 2009 IEEE.
KW - Cooperative object handling
KW - Dynamic caging
KW - Dynamic Object Closure
KW - Path planning
UR - http://www.scopus.com/inward/record.url?scp=76249126373&partnerID=8YFLogxK
UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-76249126373&origin=recordpage
U2 - 10.1109/IROS.2009.5353999
DO - 10.1109/IROS.2009.5353999
M3 - RGC 32 - Refereed conference paper (with host publication)
SN - 9781424438044
T3 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
SP - 5923
EP - 5929
BT - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
T2 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Y2 - 11 October 2009 through 15 October 2009
ER -