Coordination of multiple mobile manipulators

Thomas Sugar; J. P. Desai; V. Kumar; J. P. Ostrowski

doi:10.1109/ROBOT.2001.933081

Coordination of multiple mobile manipulators

Thomas Sugar, J. P. Desai, V. Kumar, J. P. Ostrowski

Mechanical and Aerospace Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

40 Scopus citations

Abstract

We present a novel modeling framework and control algorithms for multiple mobile manipulators cooperatively grasping and transporting an object. The planning and control tasks are decentralized, and the framework explicitly incorporates the protocols used to coordinate the robots in the team. The framework is flexible in the sense that it scales with the number of robots and controllers. Preliminary experimental results for teams of two-three robots are shown, while simulation results are used to illustrate the extensions of our approach to larger teams.

Original language	English (US)
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Pages	3022-3027
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2001.933081
State	Published - 2001
Event	2001 IEEE International Conference on Robotics and Automation - Seoul, Korea, Republic of Duration: May 21 2001 → May 26 2001

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	3
ISSN (Print)	1050-4729

Other

Other	2001 IEEE International Conference on Robotics and Automation
Country/Territory	Korea, Republic of
City	Seoul
Period	5/21/01 → 5/26/01

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ROBOT.2001.933081

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Sugar, T, Desai, JP, Kumar, V & Ostrowski, JP 2001, Coordination of multiple mobile manipulators. in Proceedings - IEEE International Conference on Robotics and Automation. Proceedings - IEEE International Conference on Robotics and Automation, vol. 3, pp. 3022-3027, 2001 IEEE International Conference on Robotics and Automation, Seoul, Korea, Republic of, 5/21/01. https://doi.org/10.1109/ROBOT.2001.933081

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AB - We present a novel modeling framework and control algorithms for multiple mobile manipulators cooperatively grasping and transporting an object. The planning and control tasks are decentralized, and the framework explicitly incorporates the protocols used to coordinate the robots in the team. The framework is flexible in the sense that it scales with the number of robots and controllers. Preliminary experimental results for teams of two-three robots are shown, while simulation results are used to illustrate the extensions of our approach to larger teams.

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BT - Proceedings - IEEE International Conference on Robotics and Automation

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Y2 - 21 May 2001 through 26 May 2001

ER -

Coordination of multiple mobile manipulators

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