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
34
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
Cooperative and intelligent control of multi-robot systems using machine learning
Ying Wang
- 01 Jan 2008
TL;DR: This thesis investigates cooperative and intelligent control of autonomous multi-robot systems in a dynamic, unstructured and unknown environment and makes significant original contributions with regard to self-deterministic learning for robot cooperation, evolutionary optimization of robotic actions, improvement of system robustness, visionbased object tracking, and real-time performance.
7
Deformable caging formation control for cooperative object transporation by multiple mobile robots
Zhidong Wang,Yasuhisa Hirata,Kazuhiro Kosuge +2 more
- 24 Jul 2005
TL;DR: The object closure margin used to decide the caging formation is addressed and a decentralized control algorithm to perform a large object handling by controlling the density of robots in the caged formation is proposed.
6
A heuristic method for computing caging formation of polygonal object
N. Suarod,N. Boonpinon,Attawith Sudsang +2 more
- 01 Dec 2007
TL;DR: A heuristic method for computing a caging formation of a given polygonal object that allows the user to choose how loosely the object may move in its cage and computes where the robots should be placed.
5
How to manipulate an object robustly with only one actuator (An application of caging)
Weiwei Wan,Rui Fukui,Masamichi Shimosaka,Tomomasa Sato,Yasuo Kuniyoshi +4 more
- 01 Nov 2013
TL;DR: This paper simplifies the number of actuators into one by quantitatively analyzing finger formations with caging tests conducted on both random objects and objects from MPEG-7 shape database and implements a gripping hand based on the idea of caging.
3
Using swarm robots based on leader-followers method for spherical object manipulation
Ali Ghaffari,Mohammad Reza Esfahanian +1 more
- 02 May 2013
TL;DR: It is shown that this system is a nonlinear system and obtain its control equations from I/O feedback linearization method and the simulation results of this method are presented which illustrates its satisfactory performance.
2
References
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Rafael Fierro,Aveek Das,Vijay Kumar,James Ostrowski +3 more
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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.