TY - GEN
T1 - Deformable caging formation control for cooperative object transporation by multiple mobile robots
AU - Wang, ZhiDong
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 - 2005
Y1 - 2005
N2 - 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. ©2004 IEEE.
AB - 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. ©2004 IEEE.
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U2 - 10.1109/aim.2005.1511166
DO - 10.1109/aim.2005.1511166
M3 - RGC 32 - Refereed conference paper (with host publication)
VL - 2
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 1158
EP - 1163
BT - Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005
T2 - Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005
Y2 - 24 July 2005 through 28 July 2005
ER -