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.
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References
Solving function distribution and behavior design problem for cooperative object handling by multiple mobile robots
Zhidong Wang,E. Nakano,T. Takahashi +2 more
- 01 Sep 2003
TL;DR: By considering the function distribution among the managing robot and worker robots, and considering behavior design of each worker robot, the proposed system is able to achieve the object handling task with different performances according to the task requirement, such as with or without path tracking and with or with contact with the environment.
64
Multiple cooperating mobile manipulators
Thomas G. Sugar,Vijay Kumar +1 more
- 01 Jan 1999
TL;DR: The main goal of the 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.
61
Cooperative Transport of Planar Objects by Multiple Mobile Robots Using Object Closure
Guilherme A. S. Pereira,Guilherme A. S. Pereira,Vijay Kumar,John R. Spletzer,Camillo J. Taylor,Mario F. M. Campos +5 more
- 01 Jan 2003
TL;DR: Experimental results are presented that show car-like robots controlled using visual feedback, transporting an object in an obstacle free environment toward a prescribed goal.
Motion control of multiple autonomous mobile robots handling a large object in coordination
Kazuhiro Kosuge,Yasuhisa Hirata,Hajime Asama,Hayato Kaetsu,Kuniaki Kawabata +4 more
- 01 Jan 1999
TL;DR: A control algorithm using geometrical constraints among the grasping points and the representative point of the object is proposed, which reduce the effect of noise amplified by force/moment transformation.
53
Transferring and regrasping a large object by cooperation of multiple mobile robots
Jun Ota,Natsuki Miyata,Tamio Arai,Eiichi Yoshida,D. Kurabatashi,J. Sasaki +5 more
- 05 Aug 1995
TL;DR: The authors propose the following approach to solve this complicated problem: regrasping strategy of the object is introduced in order avoid obstacles and to transfer the object stably, and the motion planning is divided into two steps: the object and that of the robot group.
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