An algorithm for testing object caging condition by multiple mobile robots

Zhi Dong Wang; Yasuhisa Hirata; Kazuhiro Kosuge

doi:10.1109/IROS.2005.1545378

An algorithm for testing object caging condition by multiple mobile robots

Zhi Dong Wang, Yasuhisa Hirata, Kazuhiro Kosuge

ENG - Robotics

Tohoku University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

26 Citations (Scopus)

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.

Original language	English
Title of host publication	2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Publisher	IEEE Computer Society
Pages	3022-3027
Number of pages	6
ISBN (Print)	0780389123, 9780780389120
DOIs	https://doi.org/10.1109/IROS.2005.1545378
Publication status	Published - 2005

Publication series

Name	2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Keywords

Caging
Cooperative object handling
Distributed system
Object Closure

Access to Document

10.1109/IROS.2005.1545378

Cite this

Wang, Z. D., Hirata, Y., & Kosuge, K. (2005). An algorithm for testing object caging condition by multiple mobile robots. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 3022-3027). Article 1545378 (2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). IEEE Computer Society. https://doi.org/10.1109/IROS.2005.1545378

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An algorithm for testing object caging condition by multiple mobile robots. / Wang, Zhi Dong; Hirata, Yasuhisa; Kosuge, Kazuhiro.
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. IEEE Computer Society, 2005. p. 3022-3027 1545378 (2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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KW - Cooperative object handling

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An algorithm for testing object caging condition by multiple mobile robots

Abstract

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Keywords

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