Proceedings Article10.1109/ROBOT.1999.772578
Multiple cooperating mobile manipulators
Thomas G. Sugar,Vijay Kumar +1 more
- 01 Jan 1999
- Vol. 2, pp 1538-1543
61
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.
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Abstract: 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. Each robot consists of a mobile platform and an arm. Some arms are passive while others are active. Our previous work (1998) 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.
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Citations
A Review of Recent Advances in Automated Guided Vehicle Technologies: Integration Challenges and Research Areas for 5G-Based Smart Manufacturing Applications
Emmanuel Oyekanlu,Alexander C. Smith,Windsor P. Thomas,Grethel Mulroy,Dave Hitesh,Matthew Ramsey,David Joseph Kuhn,Jason D. Mcghinnis,Steven C. Buonavita,Nickolus A. Looper,Mason Ng,Anthony Ng'oma,Weimin Liu,Patrick G. Mcbride,Michael G. Shultz,Craig Cerasi,Dan Sun +16 more
TL;DR: A review of latest AGVs and AMRs research results in the past decade is presented and novel integration ideas by which tactile Internet, 5G network slicing and virtual reality applications can be used to facilitate AGV and AMR based factory of the future (FoF) and smart manufacturing applications were motivated.
Control of cooperating mobile manipulators
Thomas G. Sugar,Vijay Kumar +1 more
- 07 Aug 2002
TL;DR: Results from many experiments are described that demonstrate the ability of the system to carry flexible boards and large boxes as well as the system's robustness to alignment and odometry errors.
Manipulability of Wheeled Mobile Manipulators: Application to Motion Generation
TL;DR: A systematic modeling of the nonholonomic mobile manipulators built from a robotic arm mounted on a wheeled mobile platform and the optimization of criteria inherited from manipulability considerations are given to generate the controls of the system when its end effector motion is imposed.
An architecture for tightly coupled multi-robot cooperation
Luiz Chaimowicz,Thomas G. Sugar,Vijay Kumar,Mario F. M. Campos +3 more
- 21 May 2001
TL;DR: An architecture for tightly coupled multi-robot coordination that is well suited to cooperative manipulation tasks is proposed and the experimental implementation and demonstration in a cooperative transportation task, in which two and three heterogeneous robots cooperate to carry a large object in an environment containing obstacles.
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.
References
Behavior-based formation control for multirobot teams
Tucker Balch,Ronald C. Arkin +1 more
- 01 Dec 1998
TL;DR: New reactive behaviors that implement formations in multirobot teams are presented and evaluated and demonstrate the value of various types of formations in autonomous, human-led and communications-restricted applications, and their appropriateness in different types of task environments.
3.2K
Reinforcement learning in the multi-robot domain
TL;DR: A formulation of reinforcement learning that enables learning in noisy, dynamic environments such as in the complex concurrent multi-robot learning domain and experimentally validate the approach on a group of four mobile robots learning a foraging task.
513
Force Strategies for Cooperative Tasks in Multiple Mobile Manipulation Systems
Oussama Khatib,Kazuhito Yokoi,Kyong-Sok Chang,D. Ruspini,R. Holmberg,Arancha Casal,A. Baader +6 more
- 01 Jan 1996
TL;DR: This work builds on four methodologies developed for fixed-base manipulation and presents the extension of these methodologies to mobile manipulation systems and proposes a new decentralized control structure for cooperative tasks.
137
Decentralized control of cooperating mobile manipulators
Thomas G. Sugar,Vijay Kumar +1 more
- 16 May 1998
TL;DR: In this paper, the authors describe an architecture and a real-time control system that allow the coordinated control of multiple, heterogeneous, mobile manipulators, where a lead robot plans, based on available sensory information, and follows a suitable trajectory.
110
•Journal Article
Decentralized control of cooperating mobile manipulators
TL;DR: An architecture and a real time control system that allow the coordinated control of multiple, heterogeneous, mobile manipulators that follows a suitable trajectory and a novel, forklift-like arm and a control scheme that allows to easily control the Cartesian stiffness or impedance are described.
106