DocumentCode
3120067
Title
On cooperative work of distributed robot maintaining retention of swarm ~ in the case of going up slope ~
Author
Hashimoto, Hiroya ; Kobayashi, Hideo ; Yokota, Sho ; Sasaki, A. ; Ohyama, Yasuhiro
Author_Institution
Adv. Inst. of Ind. Technol., Tokyo, Japan
fYear
2010
fDate
4-7 July 2010
Firstpage
1913
Lastpage
1918
Abstract
This paper investigates the cooperative work of distributed robot maintaining retention of swarm, especially in the case of going up slope. Our control law to keep the high retention of the robot swarm has been developed, and its effectiveness for an environment with obstacles has been confirmed by using ODE (Open Dynamics Engine). This paper considers an environment with the slope and investigates the phenomenon that one robot can not go up the slope but robot swarm can do it.
Keywords
cooperative systems; position control; robots; cooperative work; distributed robot; open dynamics engine; Collision avoidance; Force; Heuristic algorithms; Mobile robots; Robot kinematics; Wheels; going up slope; omni-directional moving; retention; robot swarm;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Electronics (ISIE), 2010 IEEE International Symposium on
Conference_Location
Bari
Print_ISBN
978-1-4244-6390-9
Type
conf
DOI
10.1109/ISIE.2010.5637532
Filename
5637532
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