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

页码：3022 / 3027

页数：6

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