Decentralized control of multiple mobile robots transporting a single object in coordination without using force/torque sensors

Y. Kume; Y. Hirata; K. Kosuge; H. Asama; H. Kaetsu; K. Kawabata

doi:10.1109/ROBOT.2001.933078

Decentralized control of multiple mobile robots transporting a single object in coordination without using force/torque sensors

Y. Kume, Y. Hirata, K. Kosuge, H. Asama, H. Kaetsu, K. Kawabata

ENG - Robotics

Tohoku University

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

8 Citations (Scopus)

Abstract

In this paper, we propose a decentralized control system of multiple mobile robots transporting a single object in coordination without using force/torque sensors. In this system, each robot is controlled as if it has a specified impedance dynamics without using a force/torque sensor. The robots transport an object in coordination using a leader-follower type control algorithm. The effect of parameter identification errors is discussed and a method to reduce it is proposed. The proposed control algorithm is experimentally applied to two mobile robots, and the experimental results illustrate the validity of the proposed control algorithm.

Original language	English
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Pages	3004-3009
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2001.933078
Publication status	Published - 2001
Event	2001 IEEE International Conference on Robotics and Automation - Seoul, Korea, Republic of Duration: 2001 May 21 → 2001 May 26

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	3
ISSN (Print)	1050-4729

Conference

Conference	2001 IEEE International Conference on Robotics and Automation
Country/Territory	Korea, Republic of
City	Seoul
Period	01/5/21 → 01/5/26

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10.1109/ROBOT.2001.933078

Cite this

Kume, Y., Hirata, Y., Kosuge, K., Asama, H., Kaetsu, H., & Kawabata, K. (2001). Decentralized control of multiple mobile robots transporting a single object in coordination without using force/torque sensors. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 3004-3009). (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 3). https://doi.org/10.1109/ROBOT.2001.933078

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title = "Decentralized control of multiple mobile robots transporting a single object in coordination without using force/torque sensors",

abstract = "In this paper, we propose a decentralized control system of multiple mobile robots transporting a single object in coordination without using force/torque sensors. In this system, each robot is controlled as if it has a specified impedance dynamics without using a force/torque sensor. The robots transport an object in coordination using a leader-follower type control algorithm. The effect of parameter identification errors is discussed and a method to reduce it is proposed. The proposed control algorithm is experimentally applied to two mobile robots, and the experimental results illustrate the validity of the proposed control algorithm.",

author = "Y. Kume and Y. Hirata and K. Kosuge and H. Asama and H. Kaetsu and K. Kawabata",

year = "2001",

doi = "10.1109/ROBOT.2001.933078",

language = "English",

isbn = "0780365763",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

pages = "3004--3009",

booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",

note = "2001 IEEE International Conference on Robotics and Automation ; Conference date: 21-05-2001 Through 26-05-2001",

}

Kume, Y, Hirata, Y, Kosuge, K, Asama, H, Kaetsu, H & Kawabata, K 2001, Decentralized control of multiple mobile robots transporting a single object in coordination without using force/torque sensors. in Proceedings - IEEE International Conference on Robotics and Automation. Proceedings - IEEE International Conference on Robotics and Automation, vol. 3, pp. 3004-3009, 2001 IEEE International Conference on Robotics and Automation, Seoul, Korea, Republic of, 01/5/21. https://doi.org/10.1109/ROBOT.2001.933078

Decentralized control of multiple mobile robots transporting a single object in coordination without using force/torque sensors. / Kume, Y.; Hirata, Y.; Kosuge, K. et al.
Proceedings - IEEE International Conference on Robotics and Automation. 2001. p. 3004-3009 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 3).

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

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AU - Kawabata, K.

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N2 - In this paper, we propose a decentralized control system of multiple mobile robots transporting a single object in coordination without using force/torque sensors. In this system, each robot is controlled as if it has a specified impedance dynamics without using a force/torque sensor. The robots transport an object in coordination using a leader-follower type control algorithm. The effect of parameter identification errors is discussed and a method to reduce it is proposed. The proposed control algorithm is experimentally applied to two mobile robots, and the experimental results illustrate the validity of the proposed control algorithm.

AB - In this paper, we propose a decentralized control system of multiple mobile robots transporting a single object in coordination without using force/torque sensors. In this system, each robot is controlled as if it has a specified impedance dynamics without using a force/torque sensor. The robots transport an object in coordination using a leader-follower type control algorithm. The effect of parameter identification errors is discussed and a method to reduce it is proposed. The proposed control algorithm is experimentally applied to two mobile robots, and the experimental results illustrate the validity of the proposed control algorithm.

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M3 - Conference contribution

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BT - Proceedings - IEEE International Conference on Robotics and Automation

T2 - 2001 IEEE International Conference on Robotics and Automation

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Kume Y, Hirata Y, Kosuge K, Asama H, Kaetsu H, Kawabata K. Decentralized control of multiple mobile robots transporting a single object in coordination without using force/torque sensors. In Proceedings - IEEE International Conference on Robotics and Automation. 2001. p. 3004-3009. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ROBOT.2001.933078

Decentralized control of multiple mobile robots transporting a single object in coordination without using force/torque sensors

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