Transportation of a single object by two decentralized-controlled nonholonomic mobile robots

Kazuhiro Kosuge; Tomohiro Oosumi; Manabu Satou; Kunihiko Chiba; Koji Takeo

doi:10.1109/ROBOT.1998.680884

Transportation of a single object by two decentralized-controlled nonholonomic mobile robots

Kazuhiro Kosuge
, Tomohiro Oosumi
, Manabu Satou
, Kunihiko Chiba
, Koji Takeo

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

48 Citations (Scopus)

Abstract

We propose a decentralized control algorithm for transporting a single object by two nonholonomic mobile robots driven by two wheels. We extend the leader-follower type control algorithm, proposed by Kosuge and Oosumi (1996) for holonomic robots, to mobile robots by introducing the dual caster action. The extended control algorithm is applied to two experimental tracked mobile robots, and the experimental results illustrate the validity of the control algorithm. © 1998 IEEE.

Original language	English
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Publisher	IEEE
Pages	2989-2994
Volume	4
ISBN (Print)	078034300
DOIs	https://doi.org/10.1109/ROBOT.1998.680884
Publication status	Published - 1998
Externally published	Yes
Event	15th IEEE International Conference on Robotics and Automation, ICRA 1998 - Leuven, Belgium Duration: 16 May 1998 → 20 May 1998

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	4
ISSN (Print)	1050-4729

Conference

Conference	15th IEEE International Conference on Robotics and Automation, ICRA 1998
Place	Belgium
City	Leuven
Period	16/05/98 → 20/05/98

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].

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Kosuge, K., Oosumi, T., Satou, M., Chiba, K., & Takeo, K. (1998). Transportation of a single object by two decentralized-controlled nonholonomic mobile robots. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 4, pp. 2989-2994). Article 680884 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 4). IEEE. https://doi.org/10.1109/ROBOT.1998.680884

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title = "Transportation of a single object by two decentralized-controlled nonholonomic mobile robots",

abstract = "We propose a decentralized control algorithm for transporting a single object by two nonholonomic mobile robots driven by two wheels. We extend the leader-follower type control algorithm, proposed by Kosuge and Oosumi (1996) for holonomic robots, to mobile robots by introducing the dual caster action. The extended control algorithm is applied to two experimental tracked mobile robots, and the experimental results illustrate the validity of the control algorithm. {\textcopyright} 1998 IEEE.",

author = "Kazuhiro Kosuge and Tomohiro Oosumi and Manabu Satou and Kunihiko Chiba and Koji Takeo",

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].; 15th IEEE International Conference on Robotics and Automation, ICRA 1998 ; Conference date: 16-05-1998 Through 20-05-1998",

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language = "English",

isbn = "078034300",

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Kosuge, K, Oosumi, T, Satou, M, Chiba, K & Takeo, K 1998, Transportation of a single object by two decentralized-controlled nonholonomic mobile robots. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 4, 680884, Proceedings - IEEE International Conference on Robotics and Automation, vol. 4, IEEE, pp. 2989-2994, 15th IEEE International Conference on Robotics and Automation, ICRA 1998, Leuven, Belgium, 16/05/98. https://doi.org/10.1109/ROBOT.1998.680884

Transportation of a single object by two decentralized-controlled nonholonomic mobile robots. / Kosuge, Kazuhiro; Oosumi, Tomohiro; Satou, Manabu et al.
Proceedings - IEEE International Conference on Robotics and Automation. Vol. 4 IEEE, 1998. p. 2989-2994 680884 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 4).

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

TY - GEN

T1 - Transportation of a single object by two decentralized-controlled nonholonomic mobile robots

AU - Kosuge, Kazuhiro

AU - Oosumi, Tomohiro

AU - Satou, Manabu

AU - Chiba, Kunihiko

AU - Takeo, Koji

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 - 1998

Y1 - 1998

N2 - We propose a decentralized control algorithm for transporting a single object by two nonholonomic mobile robots driven by two wheels. We extend the leader-follower type control algorithm, proposed by Kosuge and Oosumi (1996) for holonomic robots, to mobile robots by introducing the dual caster action. The extended control algorithm is applied to two experimental tracked mobile robots, and the experimental results illustrate the validity of the control algorithm. © 1998 IEEE.

AB - We propose a decentralized control algorithm for transporting a single object by two nonholonomic mobile robots driven by two wheels. We extend the leader-follower type control algorithm, proposed by Kosuge and Oosumi (1996) for holonomic robots, to mobile robots by introducing the dual caster action. The extended control algorithm is applied to two experimental tracked mobile robots, and the experimental results illustrate the validity of the control algorithm. © 1998 IEEE.

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DO - 10.1109/ROBOT.1998.680884

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

SN - 078034300

VL - 4

T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 2989

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BT - Proceedings - IEEE International Conference on Robotics and Automation

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Y2 - 16 May 1998 through 20 May 1998

ER -

Transportation of a single object by two decentralized-controlled nonholonomic mobile robots

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