Title :
On analysis and control of collective behavior of a super-mechano colony in an object retrieval mission considering energy re-charging and congestion
Author :
Hiroaki, Kurihara ; Yoshiki, M.
Author_Institution :
Dept. of Mech. & Control Eng., Tokyo Inst. of Technol., Japan
Abstract :
Previously a parent-children type multirobot system "Super-Mechano Colony" has been proposed and confirmed its advantages. In this paper, detailed analysis is performed introducing practical factors of energy recharging and collision avoidance. To dissolve the problem caused by introducing, some methods are proposed and evaluated based on the number of times that the problem happens and the amount of consumed energy.
Keywords :
collision avoidance; multi-robot systems; collective behavior analysis; collective behavior control; collision avoidance; energy congestion; energy re-charging; object retrieval mission; parent-children multirobot system; super-mechano colony; Analytical models; Collision avoidance; Collision mitigation; Control engineering; Control system analysis; Control systems; Helium; Multirobot systems; Performance analysis; Sliding mode control;
Conference_Titel :
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN :
0-7803-7631-5
DOI :
10.1109/SICE.2002.1195199
