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
Link To Document :
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