Title :
Analysis of formation control of cooperative transportation of mother ship by SMC
Author :
Yamakita, Masaki ; Taniguchi, Yasuaki ; Shukuya, Yuichirou
Author_Institution :
Tokyo Inst. of Technol., Japan
Abstract :
This paper discusses a formation control of a multiple mobile robot system (MMRS) called super mechano-colony (SMC). First, we describe the SMC system composed of a mother ship and many agents as a prototype of MMRS. Second, we propose a cooperative transportation method of the mother ship with multiple agents, and the properties of the proposed method are analyzed using an experimental system.
Keywords :
centralised control; decentralised control; mobile robots; multi-agent systems; multi-robot systems; planetary rovers; remotely operated vehicles; transportation; cooperative transportation method; decentralized control; formation control; mother ship; multiple agents; multiple mobile robot system; super mechano-colony; Air transportation; Algorithm design and analysis; Control systems; Marine transportation; Marine vehicles; Mobile robots; Moon; Paper technology; Planets; Sliding mode control;
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
Print_ISBN :
0-7803-7736-2
DOI :
10.1109/ROBOT.2003.1241715
