Title :
Autonomous cooperation formation for multi-robot
Author :
Kato, Daichi ; Sekiyama, Kosuke ; Fukuda, Toshio
Author_Institution :
Dept. of Micro-Nano Syst. Eng., Nagoya Univ., Nagoya, Japan
Abstract :
This paper deals with an adaptive multi-robot task planning. When a desired goal state of the task environment is given, backward task planning from the goal state and forward search form the initial condition such as currently available robot and functions and displacement of objects etc., are interactively executed to find a feasible state transition. Nontrivial multi-robot cooperation formation is dynamically generated as a result of the task planning. Experimental results validate the proposed method.
Keywords :
cooperative systems; mobile robots; multi-robot systems; path planning; search problems; adaptive multirobot task planning; autonomous cooperation formation; forward search; nontrivial multirobot cooperation formation; Argon; Robots; Tin;
Conference_Titel :
Micro-NanoMechatronics and Human Science (MHS), 2010 International Symposium on
Conference_Location :
Nagoya
Print_ISBN :
978-1-4244-7995-5
DOI :
10.1109/MHS.2010.5669516
