Title :
Design of Decentralized Capturing Behavior by Multiple Mobile Robots
Author :
Kobayashi, Yuichi ; Otsubo, Kyouji ; Hosoe, Shigeyuki
Author_Institution :
Biomimetic Control Res. Center, RIKEN, Nagoya
Abstract :
This paper discusses the design of decentralized capturing behavior by multiple mobile robots. The design is based on a gradient descent method with local information. The task of capturing a target is divided into two problems, enclosing behavior and grasping behavior. We give analysis on convergence of the local control policy in enclosing problem. In grasping behavior, we consider the force-closure condition in decentralized form for designing a local objective function. The proposed local control policies were evaluated in simulations, where the flexibility of the system was verified caused by the decentralized nature of the system
Keywords :
control system synthesis; decentralised control; gradient methods; mobile robots; multi-robot systems; decentralized capturing behavior; enclosing behavior; force-closure condition; gradient descent; grasping behavior; local control policy; local objective function; multiple mobile robots; Communication system control; Control systems; Convergence; Design engineering; Distributed control; Intelligent sensors; Mobile robots; Robot kinematics; Robot sensing systems; Robust control;
Conference_Titel :
Distributed Intelligent Systems: Collective Intelligence and Its Applications, 2006. DIS 2006. IEEE Workshop on
Conference_Location :
Prague
Print_ISBN :
0-7695-2589-X
DOI :
10.1109/DIS.2006.23
