Coordination of multiple mobile manipulators

被引：0
|
作者：
Sugar, T [1 ]
Desai, JP [1 ]
Kumar, V [1 ]
Ostrowski, JP [1 ]
机构：
[1] Arizona State Univ, Dept Mech & Aerosp Engn, Tempe, AZ 85287 USA
来源：
2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS | 2001年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We present a novel modeling framework and control algorithms for multiple mobile manipulators cooperatively grasping and transporting an object. The planning and control tasks are decentralized, and the framework explicitly incorporates the protocols used to coordinate the robots in the team. The framework is flexible in the sense that it scales with the number of robots and controllers. Preliminary experimental results for teams of two-three robots are shown, while simulation results are used to illustrate the extensions of our approach to larger teams.
引用
收藏
页码：3022 / 3027
页数：6
相关论文
共 50 条
  • [1] Coordination and decentralized cooperation of multiple mobile manipulators
    Stanford Univ, Stanford, United States
    J Rob Syst, 11 (755-764):
  • [2] Coordination and decentralized cooperation of multiple mobile manipulators
    Khatib, O
    Yokoi, K
    Chang, K
    Ruspini, D
    Holmberg, R
    Casal, A
    JOURNAL OF ROBOTIC SYSTEMS, 1996, 13 (11): : 755 - 764
  • [3] Coordination of multiple mobile manipulators for ordered sorting of cluttered objects
    Ahn, Jeeho
    Lee, Seabin
    Nam, Changjoo
    2023 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, IROS, 2023, : 712 - 718
  • [4] Decentralized control of multiple mobile manipulators handling a single object in coordination
    Kume, Y
    Hirata, Y
    Wang, Z
    Kosuge, K
    2002 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-3, PROCEEDINGS, 2002, : 2758 - 2763
  • [5] Visual coordination of heterogeneous mobile manipulators
    Yoder, JD
    Seelinger, M
    EXPERIMENTAL ROBOTICS IX, 2006, 21 : 387 - +
  • [6] Reinforcement learning compensated coordination control of multiple mobile manipulators for tight cooperation
    Xu, Pengjie
    Cui, Yuanzhe
    Shen, Yichao
    Zhu, Wei
    Zhang, Yiheng
    Wang, Bingzheng
    Tang, Qirong
    ENGINEERING APPLICATIONS OF ARTIFICIAL INTELLIGENCE, 2023, 123
  • [7] Multiple cooperating mobile manipulators
    Sugar, T
    Kumar, V
    ICRA '99: IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, PROCEEDINGS, 1999, : 1538 - 1543
  • [8] Handling of an object by multiple mobile manipulators in coordination based on caster-like dynamics
    Hirata, Y
    Kume, YH
    Sawada, T
    Wang, ZD
    Kosuge, K
    2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS, 2004, : 807 - 812
  • [9] Fuzzy control of multiple manipulators with coordination
    Gauthier, G
    Saad, M
    ISA MONTERREY 2002 (ENGLISH), 2002, 433 : 19 - 30
  • [10] Behavior-based Adaptive Dynamic Programming Method for Multiple Mobile Manipulators Coordination Control
    Zhang, Zhenyi
    Chen, Jianfei
    Mo, Zhibin
    Chen, Yutao
    Huang, Jie
    INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2023, 21 (09) : 3022 - 3035
12345