Title :
The deadlock avoidance method based on Leader-Follower relations among multiple robots in large-scale structure assembly
Author :
Otani, Masayuki ; Takadama, Keiki
Author_Institution :
Dept. of Human Commun., Univ. of Electro-Commun., Chofu
Abstract :
This paper proposes the deadlock avoidance method where two robots that have different roles move together as on one set and change their roles between robots, and aims at investigating its effectiveness through simulation on constructing space solar power satellite (SSPS). Intensive simulations have revealed the following implications: (1) our proposed method enables robots to get out of deadlock situations and contributes to reducing the steps to assemble large-scale structure; and (2) the method is robust to the shape of the structure.
Keywords :
aerospace robotics; mobile robots; multi-robot systems; robotic assembly; solar power satellites; space power generation; deadlock avoidance method; large-scale structure assembly; leader-follower relations; multiple robots; space solar power satellite; Humans; Large-scale systems; Nuclear power generation; Orbital robotics; Power generation; Robotic assembly; Robots; Satellites; Space power stations; System recovery; cooperation; deadlock avoidance; large-scale structure; multiple robots; space solar power satellite;
Conference_Titel :
SICE Annual Conference, 2008
Conference_Location :
Tokyo
Print_ISBN :
978-4-907764-30-2
Electronic_ISBN :
978-4-907764-29-6
DOI :
10.1109/SICE.2008.4654895