Coordination of multiple mobile manipulators

Thomas Sugar, J. P. Desai, V. Kumar, J. P. Ostrowski

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

34 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages3022-3027
Number of pages6
DOIs
StatePublished - Sep 15 2001
Event2001 IEEE International Conference on Robotics and Automation - Seoul, Korea, Republic of
Duration: May 21 2001May 26 2001

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume3
ISSN (Print)1050-4729

Other

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

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ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Sugar, T., Desai, J. P., Kumar, V., & Ostrowski, J. P. (2001). Coordination of multiple mobile manipulators. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 3022-3027). (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 3). https://doi.org/10.1109/ROBOT.2001.933081