Proceedings Article10.1109/IROS.2005.1545378
An algorithm for testing object caging condition by multiple mobile robots
Zhidong Wang,Yasuhisa Hirata,Kazuhiro Kosuge +2 more
- 05 Dec 2005
- pp 3022-3027
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TL;DR: By implementation of a complete testing based on the sufficient and necessary condition of object closure, the proposed algorithm works efficiently even for case to cage an irregular object.
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Abstract: We address the manipulation of planar objects by multiple cooperating mobile robots using the concept of object closure, a condition under which the object is trapped so that there is no feasible path for the object from the given position to any position that is beyond a specified threshold distance. In this paper, we develop a distributed testing algorithm of object caging by multiple cooperative robots. By implementation of a complete testing based on the sufficient and necessary condition of object closure, the proposed algorithm works efficiently even for case to cage an irregular object.
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Citations
Multi-robot Box-pushing: Single-Agent Q-Learning vs. Team Q-Learning
Ying Wang,Clarence W. de Silva +1 more
- 01 Oct 2006
TL;DR: It is shown that the single-agent Q-learning algorithm does a better job than the team Q- learning algorithm in a complicated and unknown environment with many obstacles.
93
A machine-learning approach to multi-robot coordination
Ying Wang,Clarence W. de Silva +1 more
TL;DR: A modified RL algorithm called the sequential Q-learning algorithm is developed to deal with the issues of behavior conflict that arise in multi-robot cooperative transportation tasks, andSimulation and experimental results are presented to demonstrate the effectiveness and adaptivity of the developed approach.
82
Transport of an object by six pre-attached robots interacting via physical links
Roderich Gross,Francesco Mondada,Marco Dorigo +2 more
- 15 May 2006
TL;DR: This is the first such system to achieve a performance superior to that of a passive caster, and the system is fully decentralized and the information flow between the robots is limited to physical interactions.
A survey of robotic caging and its applications
Satoshi Makita,Weiwei Wan +1 more
TL;DR: This paper reviews the robotic literature related to caging ranging from its historical background, state-of-the-art developments, to practical applications, and provides insights on some open problems and promising research and application directions.
51
Grasping by caging: A promising tool to deal with uncertainty
Weiwei Wan,Rui Fukui,Masamichi Shimosaka,Tomomasa Sato,Yasuo Kuniyoshi +4 more
- 14 May 2012
TL;DR: This paper demonstrates that the minimum caging is immobilization and consequently proposes using three or four fingers to manipulate planar convex objects in a grasping-by-caging way and expects its leading benefits in saving finger number, conquering low-friction materials and especially, dealing with pose/shape uncertainty.
46
References
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Lynne E. Parker
- 01 Apr 1998
TL;DR: This software architecture allows the robot team members to respond robustly, reliably, flexibly, and coherently to unexpected environmental changes and modifications in the robotteam that may occur due to mechanical failure, the learning of new skills, or the addition or removal of robots from the team by human intervention.
Stable pushing: mechanics, controllability, and planning
Kevin M. Lynch,Matthew T. Mason +1 more
TL;DR: A planner for finding stable pushing paths among obstacles is described, and the planner is demon strated on several manipulation tasks.
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Hybrid control of formations of robots
Rafael Fierro,Aveek Das,Vijay Kumar,James Ostrowski +3 more
- 21 May 2001
TL;DR: A framework for controlling a group of nonholonomic mobile robots equipped with range sensors is described, using the leader-following approach, that allows the robots to automatically switch between continuous-state control laws to achieve a desired formation shape.
Object closure and manipulation by multiple cooperating mobile robots
Zhidong Wang,Vijay Kumar +1 more
- 07 Aug 2002
TL;DR: It is shown how simple, first-order, potential field based controllers can be used to implement multirobot manipulation tasks and define object closure and develop a set of decentralized algorithms that allow the robots to achieve and maintain object closure.
Motion planning for disc-shaped robots pushing a polygonal object in the plane
Attawith Sudsang,Fred Rothganger,Jean Ponce +2 more
- 10 Dec 2002
TL;DR: This paper addresses the problem of using three disc-shaped robots to manipulate a polygonal object in the plane in the presence of obstacles by generalized to the case where obstacles are present by decomposing the corresponding motion planning task into the construction of a collision-free path for a modified form of the object.