Coordinated Transportation of a Single Object by a Group of Nonholonomic Mobile Robots View Full Text


Ontology type: schema:Chapter     


Chapter Info

DATE

2002

AUTHORS

Xin Yang , Keigo Watanabe , Kazuo Kiguchi , Kiyotaka Izumi

ABSTRACT

In this paper, we propose a decentralized control system for transporting a single object by a group of nonholonomic mobile robots. One of these mobile robots acts as a leader, who is assumed to be able to plan and manipulate the omnidirectional motion of the object. Other robots, referred to as followers, cooperatively transport the object by keeping the initial relative position to the object. Different from the conventional leader-follower type system of transporting a signal object by multiple robots in coordination, the present follower can plan an action based on its local coordinate and does not need any absolute positional information. The simulation result exhibits a good performance of the proposed system. More... »

PAGES

175-184

References to SciGraph publications

Book

TITLE

Distributed Autonomous Robotic Systems 5

ISBN

978-4-431-65943-3
978-4-431-65941-9

Author Affiliations

Identifiers

URI

http://scigraph.springernature.com/pub.10.1007/978-4-431-65941-9_18

DOI

http://dx.doi.org/10.1007/978-4-431-65941-9_18

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1034494210


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