Dynamic object closure by multiple mobile robots and random caging formation testing

ZhiDong Wang; Yasuhisa Hirata; Kazuhiro Kosuge

doi:10.1109/IROS.2006.281725

Dynamic object closure by multiple mobile robots and random caging formation testing

ZhiDong Wang
, Yasuhisa Hirata
, Kazuhiro Kosuge

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

18 Citations (Scopus)

Abstract

In this paper, we discuss the manipulation of planar objects by multiple cooperating mobile robots using the concept of Object Closure. 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. 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. A Random Caging Formation Testing algorithm (RCFT) is proposed for checking Dynamic Object Closure condition. Some simulation results are presented for illustrating the validity of the proposed algorithm. © 2006 IEEE.

Original language	English
Title of host publication	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages	3675-3681
DOIs	https://doi.org/10.1109/IROS.2006.281725
Publication status	Published - 2006
Externally published	Yes
Event	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China Duration: 9 Oct 2006 → 15 Oct 2006 https://ieeexplore.ieee.org/xpl/conhome/4058334/proceeding

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems

Conference

Conference	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Place	China
City	Beijing
Period	9/10/06 → 15/10/06
Internet address	https://ieeexplore.ieee.org/xpl/conhome/4058334/proceeding

Bibliographical note

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].

Research Keywords

Cooperative object handling
Dynamic caging
Dynamic object closure

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10.1109/IROS.2006.281725

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@inproceedings{033275b579f849239cb3ee26eba05d4a,

title = "Dynamic object closure by multiple mobile robots and random caging formation testing",

abstract = "In this paper, we discuss the manipulation of planar objects by multiple cooperating mobile robots using the concept of Object Closure. 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. 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. A Random Caging Formation Testing algorithm (RCFT) is proposed for checking Dynamic Object Closure condition. Some simulation results are presented for illustrating the validity of the proposed algorithm. {\textcopyright} 2006 IEEE.",

keywords = "Cooperative object handling, Dynamic caging, Dynamic object closure",

author = "ZhiDong Wang and Yasuhisa Hirata and Kazuhiro Kosuge",

note = "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].; 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 ; Conference date: 09-10-2006 Through 15-10-2006",

year = "2006",

doi = "10.1109/IROS.2006.281725",

language = "English",

isbn = "142440259",

series = "IEEE International Conference on Intelligent Robots and Systems",

pages = "3675--3681",

booktitle = "2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006",

url = "https://ieeexplore.ieee.org/xpl/conhome/4058334/proceeding",

}

Wang, Z, Hirata, Y & Kosuge, K 2006, Dynamic object closure by multiple mobile robots and random caging formation testing. in 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006., 4058975, IEEE International Conference on Intelligent Robots and Systems, pp. 3675-3681, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006, Beijing, China, 9/10/06. https://doi.org/10.1109/IROS.2006.281725

Dynamic object closure by multiple mobile robots and random caging formation testing. / Wang, ZhiDong; Hirata, Yasuhisa; Kosuge, Kazuhiro.
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006. 2006. p. 3675-3681 4058975 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

TY - GEN

T1 - Dynamic object closure by multiple mobile robots and random caging formation testing

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 - 2006

Y1 - 2006

N2 - In this paper, we discuss the manipulation of planar objects by multiple cooperating mobile robots using the concept of Object Closure. 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. 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. A Random Caging Formation Testing algorithm (RCFT) is proposed for checking Dynamic Object Closure condition. Some simulation results are presented for illustrating the validity of the proposed algorithm. © 2006 IEEE.

AB - In this paper, we discuss the manipulation of planar objects by multiple cooperating mobile robots using the concept of Object Closure. 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. 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. A Random Caging Formation Testing algorithm (RCFT) is proposed for checking Dynamic Object Closure condition. Some simulation results are presented for illustrating the validity of the proposed algorithm. © 2006 IEEE.

KW - Cooperative object handling

KW - Dynamic caging

KW - Dynamic object closure

UR - https://www.scopus.com/pages/publications/34250618596

UR - https://www.scopus.com/pages/publications/34250618596#tab=impact

U2 - 10.1109/IROS.2006.281725

DO - 10.1109/IROS.2006.281725

M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 142440259

SN - 9781424402595

T3 - IEEE International Conference on Intelligent Robots and Systems

SP - 3675

EP - 3681

BT - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006

T2 - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006

Y2 - 9 October 2006 through 15 October 2006

ER -

Dynamic object closure by multiple mobile robots and random caging formation testing

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Research Keywords

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