TY - GEN
T1 - Handling of a single object by multiple mobile robots based on caster-like dynamics
AU - Hirata, Yasuhisa
AU - Kume, Youhei
AU - Wang, Zhi-Dong
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 - 2008
Y1 - 2008
N2 - When we consider a coordination of multiple mobile robots, it is difficult to know the geometric relations among them. Errors in position and orientation of each robot detected by dead reckoning system are inevitable because of the slippage between wheels and the ground. To overcome these problems, in this article, we introduce a caster-like dynamics for controlling the multiple mobile robots in coordination. By using the caster-like dynamics, multiple mobile robots could handle a single object without using the geometric relations among them and the shape of the object. The effectiveness of the caster-like dynamics is illustrated through the video in which several types mobile robots handle a single object in coordination. ©2008 IEEE.
AB - When we consider a coordination of multiple mobile robots, it is difficult to know the geometric relations among them. Errors in position and orientation of each robot detected by dead reckoning system are inevitable because of the slippage between wheels and the ground. To overcome these problems, in this article, we introduce a caster-like dynamics for controlling the multiple mobile robots in coordination. By using the caster-like dynamics, multiple mobile robots could handle a single object without using the geometric relations among them and the shape of the object. The effectiveness of the caster-like dynamics is illustrated through the video in which several types mobile robots handle a single object in coordination. ©2008 IEEE.
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UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-51649123032&origin=recordpage
U2 - 10.1109/ROBOT.2008.4543540
DO - 10.1109/ROBOT.2008.4543540
M3 - RGC 32 - Refereed conference paper (with host publication)
SN - 9781424416479
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2215
EP - 2216
BT - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
T2 - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Y2 - 19 May 2008 through 23 May 2008
ER -