Abstract
This paper proposes a new architecture for tightly coupled multi-robot coordination that is well suited to cooperative manipulation tasks. At all times, a robot is identified as a leader, while the others are designated as followers. The assignment of roles and the coordination between the robots is guaranteed by communication protocols and control algorithms. The key feature is the flexibility that allows changes in leadership and assignment of roles during the execution of a task. We describe the experimental implementation and demonstration in a cooperative transportation task, in which two and three heterogeneous robots cooperate to carry a large object in an environment containing obstacles.
Original language | English (US) |
---|---|
Title of host publication | Proceedings - IEEE International Conference on Robotics and Automation |
Pages | 2992-2997 |
Number of pages | 6 |
Volume | 3 |
State | Published - 2001 |
Event | 2001 IEEE International Conference on Robotics and Automation - Seoul, Korea, Republic of Duration: May 21 2001 → May 26 2001 |
Other
Other | 2001 IEEE International Conference on Robotics and Automation |
---|---|
Country/Territory | Korea, Republic of |
City | Seoul |
Period | 5/21/01 → 5/26/01 |
ASJC Scopus subject areas
- Software
- Control and Systems Engineering