DocumentCode
2236068
Title
Analysis of formation control of cooperative transportation of mother ship by SMC
Author
Yamakita, Masaki ; Taniguchi, Yasuaki ; Shukuya, Yuichirou
Author_Institution
Tokyo Inst. of Technol., Japan
Volume
1
fYear
2003
fDate
14-19 Sept. 2003
Firstpage
951
Abstract
This paper discusses a formation control of a multiple mobile robot system (MMRS) called super mechano-colony (SMC). First, we describe the SMC system composed of a mother ship and many agents as a prototype of MMRS. Second, we propose a cooperative transportation method of the mother ship with multiple agents, and the properties of the proposed method are analyzed using an experimental system.
Keywords
centralised control; decentralised control; mobile robots; multi-agent systems; multi-robot systems; planetary rovers; remotely operated vehicles; transportation; cooperative transportation method; decentralized control; formation control; mother ship; multiple agents; multiple mobile robot system; super mechano-colony; Air transportation; Algorithm design and analysis; Control systems; Marine transportation; Marine vehicles; Mobile robots; Moon; Paper technology; Planets; Sliding mode control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-7736-2
Type
conf
DOI
10.1109/ROBOT.2003.1241715
Filename
1241715
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