Full Text:
<2740>
CLC number: TP242.2
On-line Access: 2024-08-27
Received: 2023-10-17
Revision Accepted: 2024-05-08
Crosschecked: 2010-11-17
Cited: 5
Clicked: 8101
Cooperative transport strategy for formation control of multiple mobile robots
| |||||||||||||
Fan Yang, Shi-rong Liu, Fei Liu. Cooperative transport strategy for formation control of multiple mobile robots[J]. Journal of Zhejiang University Science C, 2010, 11(12): 931-938.
@article{title="Cooperative transport strategy for formation control of multiple mobile robots",
author="Fan Yang, Shi-rong Liu, Fei Liu",
journal="Journal of Zhejiang University Science C",
volume="11",
number="12",
pages="931-938",
year="2010",
publisher="Zhejiang University Press & Springer",
doi="10.1631/jzus.C1000136"
}
%0 Journal Article
%T Cooperative transport strategy for formation control of multiple mobile robots
%A Fan Yang
%A Shi-rong Liu
%A Fei Liu
%J Journal of Zhejiang University SCIENCE C
%V 11
%N 12
%P 931-938
%@ 1869-1951
%D 2010
%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.C1000136
TY - JOUR
T1 - Cooperative transport strategy for formation control of multiple mobile robots
A1 - Fan Yang
A1 - Shi-rong Liu
A1 - Fei Liu
J0 - Journal of Zhejiang University Science C
VL - 11
IS - 12
SP - 931
EP - 938
%@ 1869-1951
Y1 - 2010
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/jzus.C1000136
Abstract: This paper addresses a box transport problem that requires the cooperation of multiple mobile robots. A geometric-based distributed formation control strategy is proposed for robots to push the box to the target, which might be static or dynamic. Velocity and hardware constraints are considered in the advanced planning of the trajectory. information sharing is included because the robots used as box pushers cannot acquire the required environmental information from their local sensors. Simulation results show the effectiveness of the proposed distributed cooperation strategy.
[1]Balch, T., Arkin, R.C., 1998. Behavior-based formation control for multirobot teams. IEEE Trans. Robot. Autom., 14(6):926-939.
[2]Consolini, L., Morbidi, F., Prattichizzo, D., Tosques, M., 2008. Leader-follower formation control of nonholonomic mobile robots with input constraints. Automatica, 44(5):1343-1349.
[3]Consolini, L., Morbidi, F., Prattichizzo, D., Tosques, M., 2009. Stabilization of a hierarchical formation of unicycle robots with velocity and curvature constraints. IEEE Trans. Robot., 25(5):1176-1184.
[4]Cortes, J., Martinez, S., Bullo, F., 2006. Robust rendezvous for mobile autonomous agents via proximity graphs in arbitrary dimensions. IEEE Trans. Autom. Control, 51(8):1289-1298.
[5]Gerkey, B.P., Mataric, M.J., 2002. Pusher-Watcher: An Approach to Fault-Tolerant Tightly-Coupled Robot Coordination. Proc. IEEE Int. Conf. on Robotics and Automation, p.464-469.
[6]Inoue, Y., Tohge, T., Iba, H., 2007. Cooperative transportation system for humanoid robots using simulation-based learning. Appl. Soft Comput., 7(1):115-125.
[7]Mas, I., Li, S., Acain, J., Kitts, C., 2009. Entrapment/Escorting and Patrolling Missions in Multi-robot Cluster Space Control. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, p.5855-5861.
[8]Ota, J., Arai, T., 1999. Transfer control of a large object by a group of mobile robots. Robot. Auton. Syst., 28(4):271-280.
[9]Parra-Gonzalez, E.F., Ramirez-Torres, J.G., Toscano-Pulido, G., 2009. A New Object Path Planner for the Box Pushing Problem. Electronics, Robotics and Automotive Mechanics Conf., p.119-124.
[10]Pereira, G.A.S., Pimentel, B.S., Chaimowicz, L., Campos, M.F.M., 2002. Coordination of Multiple Mobile Robots in an Object Carrying Task Using Implicit Communication. Proc. IEEE Int. Conf. on Robotics and Automation, p.281-286.
[11]Ren, W., Sorensen, N., 2008. Distributed coordination architecture for multi-robot formation control. Robot. Auton. Syst., 56(4):324-333.
[12]Tanner, H.G., 2004. Flocking with Obstacle Avoidance in Switching Networks of Interconnected Vehicles. Proc. IEEE Int. Conf. on Robotics and Automation, p.3006-3011.
[13]Wang, Z.D., Hirata, Y., Kosuge, K., 2004. Control a Rigid Caging Formation for Cooperative Object Transportation by Multiple Mobile Robots. Proc. IEEE Int. Conf. on Robotics and Automation, p.1580-1585.
[14]Zielinski, C., Trojanek, P., 2009. Stigmergic cooperation of autonomous robots. Mech. Mach. Theory, 44(4):656-670.
Open peer comments: Debate/Discuss/Question/Opinion
<1>