Abstract
The main goal of this paper is to present a framework and basic control algorithms for coordinating a small team of robots in tasks that involve grasping large objects and transporting them in a two-dimensional environment with obstacles. Each robot consists of a mobile platform and an arm. Some arms are passive while others are active. Our previous work [1] addressed the manipulator design, the architecture, and the communication between robots. In this paper we address the control of the manipulators, the coordination between the platforms for a team of two or three cooperating robots, and the handling of flexible large objects.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 1538-1543 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 2 |
| State | Published - 1999 |
| Externally published | Yes |
| Event | Proceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA Duration: May 10 1999 → May 15 1999 |
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering