An architecture for tightly coupled multi-robot cooperation

L. Chaimowicz, Thomas Sugar, V. Kumar, M. F M Campos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

85 Scopus citations

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 languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages2992-2997
Number of pages6
Volume3
StatePublished - 2001
Event2001 IEEE International Conference on Robotics and Automation - Seoul, Korea, Republic of
Duration: May 21 2001May 26 2001

Other

Other2001 IEEE International Conference on Robotics and Automation
CountryKorea, Republic of
CitySeoul
Period5/21/015/26/01

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

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