Coordinated Transportation of a Large Object by a Team of Three Robots

Rui Soares; Estela Bicho

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Paper

Coordinated Transportation of a Large Object by a Team of Three Robots

In Proceedings of the 2nd International Workshop on Multi-Agent Robotic Systems - Volume 0ICINCO, 66-79, 2006 , Setúbal, Portugal

Authors: Rui Soares ¹ and Estela Bicho ²

Affiliations: ¹ Esc. Sup. Tec. e Gestão de Felgueiras - Instituto Politecnico do Porto, Portugal ; ² Universidade do Minho, Portugal

Abstract: Dynamical systems theory in this work is used as a theoretical language and tool to design a distributed control architecture for a team of three robots that must transport a large object and simultaneously avoid collisions with either static or dynamic obstacles. The robots have no prior knowledge of the environment. The dynamics of behavior is defined over a state space of behavior variables, heading direction and path velocity. Task constraints are modeled as attractors (i.e. asymptotic stable states) of the behavioral dynamics. For each robot, these attractors are combined into a vector field that governs the behavior. By design the parameters are tuned so that the behavioral variables are always very close to the corresponding attractors. Thus the behavior of each robot is controlled by a time series of asymptotical stable states. Computer simulations support the validity of the dynamical model architecture.

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Paper citation in several formats:

Soares, R. and Bicho, E. (2006). Coordinated Transportation of a Large Object by a Team of Three Robots. In Proceedings of the 2nd International Workshop on Multi-Agent Robotic Systems (ICINCO 2006) - MARS; ISBN 978-972-8865-66-5, SciTePress, pages 66-79. DOI: 10.5220/0001222600660079

@conference{mars06,
author={Rui Soares. and Estela Bicho.},
title={Coordinated Transportation of a Large Object by a Team of Three Robots},
booktitle={Proceedings of the 2nd International Workshop on Multi-Agent Robotic Systems (ICINCO 2006) - MARS},
year={2006},
pages={66-79},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001222600660079},
isbn={978-972-8865-66-5},
}

TY - CONF

JO - Proceedings of the 2nd International Workshop on Multi-Agent Robotic Systems (ICINCO 2006) - MARS
TI - Coordinated Transportation of a Large Object by a Team of Three Robots
SN - 978-972-8865-66-5
AU - Soares, R.
AU - Bicho, E.
PY - 2006
SP - 66
EP - 79
DO - 10.5220/0001222600660079
PB - SciTePress