Title :
Dynamic grouping in multiple mobile robots system
Author :
Ota, Jun ; Arai, Tamio ; Kurabayashi, Daisuke
Author_Institution :
Dept. of Precision Machinery Eng., Tokyo Univ., Japan
Abstract :
A motion planning method for robot groups is presented. First, groups are classified into a group on common partnership (P-group) and a group in shape (cluster) based on types of common factors among members of the same group. The concept of cohesion is proposed to express changeability of clusters. Next, a motion planning method with dynamic grouping, which changes number of cluster in the group based on cohesion, is presented. The approach is implemented using the virtual impedance method. The effectiveness of the method is verified by simulation results
Keywords :
mobile robots; cohesion; common partnership; dynamic grouping; group in shape; mobile robots; motion planning method; multiple mobile robots system; robot groups; virtual impedance method; Animals; Educational institutions; Fellows; Humans; Machinery; Mobile robots; Motion planning; Shape;
Conference_Titel :
Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on
Conference_Location :
Yokohama
Print_ISBN :
0-7803-0823-9
DOI :
10.1109/IROS.1993.583902
