DocumentCode :
2940080
Title :
Multi-Robot Terrain Servoing with Proximity Sensors
Author :
Karasalo, Maja ; Johansson, Linda-Maria ; Hu, Xiaoming ; Johansson, Karl Henrik
Author_Institution :
Optimization and Systems Theory Royal Institute of Technology SE-100 44 Stockholm, Sweden karasalo@math.kth.se
fYear :
2005
fDate :
18-22 April 2005
Firstpage :
2791
Lastpage :
2796
Abstract :
The problem of coordinating a team of robots with heterogeneous sensing capabilities is studied in this paper. A control structure is proposed that combines terrain servoing for the leading robot with on-line formation planning and path following for the followers, while enabling obstacle avoidance for all the robots.
Keywords :
multi-agent; semi-local frame; servoing; Cleaning; Control systems; Motion control; Motion planning; Navigation; Path planning; Robot kinematics; Robot sensing systems; Sensor systems; Surveillance; multi-agent; semi-local frame; servoing;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN :
0-7803-8914-X
Type :
conf
DOI :
10.1109/ROBOT.2005.1570536
Filename :
1570536
Link To Document :
https://search.ricest.ac.ir/dl/search/defaultta.aspx?DTC=49&DC=2940080
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