DocumentCode :
2331586
Title :
Analyzing teams of cooperating mobile robots
Author :
Donald, Bruce Randall ; Jennings, James ; Rus, Daniela
Author_Institution :
Dept. of Comput. Sci., Cornell Univ., Ithaca, NY, USA
fYear :
1994
fDate :
8-13 May 1994
Firstpage :
1896
Abstract :
Donald (1993) described a manipulation task for cooperating mobile robots that can push large, heavy objects. There, the author asked whether explicit local and global communication between the agents can be removed from a family of pushing protocols. In this paper, the authors answer in the affirmative. They do so by using the general methods of Donald for analyzing information invariants. The authors discuss several measures for the information complexity of the task of pushing with cooperating mobile robots, and they present a methodology for creating new manipulation strategies out of existing ones. The authors develop and analyze synchronous and asynchronous manipulation protocols for a small team of cooperating mobile robots than can push large boxes. The protocols described have been implemented in several forms on the Cornell mobile robots in the authors´ laboratory
Keywords :
cooperative systems; manipulators; mobile robots; Cornell mobile robots; agents; asynchronous manipulation protocols; cooperating mobile robots; explicit global communication; explicit local communication; information complexity; information invariants; large heavy objects; manipulation task; pushing protocols; synchronous manipulation protocols; teams; Computer science; Friction; Information analysis; Laboratories; Manipulator dynamics; Mobile robots; Protocols; Robot kinematics; Robot sensing systems; Robot vision systems;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
Type :
conf
DOI :
10.1109/ROBOT.1994.351185
Filename :
351185
Link To Document :
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