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
On the caging region of a third finger with object boundary clouds and two given contact positions
Weiwei Wan,Rui Fukui,Masamichi Shimosaka,Tomomasa Sato,Yasuo Kuniyoshi +4 more
- 14 May 2012
TL;DR: A rough approximation is proposed which measures a subset of the possible positions by contracting rotations, indicating computational complexity of max(O(n),O(h2)).
14
Multifinger Caging Using Dispersion Constraints
TL;DR: An algorithm for computing all initial finger placements at which the object can be caged in an aforementioned manner is presented and an implementation of the proposed algorithm is described along with implementation results both in 2-D and 3-D.
13
Research on multi-robot collaborative transportation control system
Cheng Cheng,Xinyi Yu,Lin-Lin Ou,Guo Yongkui +3 more
- 08 Aug 2016
TL;DR: A target tracking control algorithm is used in order to control multiple mobile robots to transport goods along with the planned path and the provided simulation results demonstrate the effectiveness of the multi-robot collaborative transportation control system.
10
Self-Assembling Robots
Roderich Groß
- 12 Oct 2007
TL;DR: The swarm-bot qualifies as the current state of the art in self-assembling robots, and some initial evidence is provided that self-assembly can offer robotic systems additional capabilities and functions useful for the accomplishment of concrete tasks is supplied.
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•Proceedings Article
Cooperative control of differential wheeled mobile robots for box pushing problem
Sungwon Moon,Dongjun Kwak,H. Jin Kim +2 more
- 31 Dec 2012
TL;DR: A decentralized cooperative control algorithm for a box pushing problem using two ground robots using a sequence of three behaviors, Approach, Align, and Push, and experimental results obtained using the multi-robot testbed are presented.
9
References
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Lynne E. Parker
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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.