Utilize este identificador para referenciar este registo:
https://hdl.handle.net/1822/19241
Título: | Coordinated transportation with minimal explicit communication between robots |
Autor(es): | Bicho, E. Louro, Luís Erlhagen, Wolfram |
Palavras-chave: | Mobile robots Object transportation Collision avoidance Attractor dynamics |
Data: | 2004 |
Resumo(s): | We propose and demonstrate how attractor dynamics can be used to design and implement a distributed dynamic control architecture that enables a team of two robots, without force/torque sensors and equipped solely with low-level sensors, to carry a long object and simultaneously avoid obstacles. The explicit required communication between robots is minimal. The robots have no prior knowledge of their environment. Experimental results in indoor environments show that if parameter values are chosen within reasonable ranges then the overall system works quite well even in cluttered environments. The robots’ behavior is stable and the generated trajectories are smooth. |
Tipo: | Artigo em ata de conferência |
Descrição: | Preprint |
URI: | https://hdl.handle.net/1822/19241 |
Arbitragem científica: | yes |
Acesso: | Acesso aberto |
Aparece nas coleções: | DEI - Artigos em atas de congressos internacionais |
Ficheiros deste registo:
Ficheiro | Descrição | Tamanho | Formato | |
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IAV2004_EB_LL_WE.PDF | documento principal | 357,98 kB | Adobe PDF | Ver/Abrir |