Handling of a single object by multiple mobile robots based on caster-like dynamics

Yasuhisa Hirata; Youhei Kume; Zhi Dong Wang; Kazuhiro Kosuge

doi:10.1109/ROBOT.2008.4543540

Handling of a single object by multiple mobile robots based on caster-like dynamics

Yasuhisa Hirata, Youhei Kume, Zhi Dong Wang, Kazuhiro Kosuge

ENG - Robotics

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

5 Citations (Scopus)

Abstract

When we consider a coordination of multiple mobile robots, it is difficult to know the geometric relations among them. Errors in position and orientation of each robot detected by dead reckoning system are inevitable because of the slippage between wheels and the ground. To overcome these problems, in this article, we introduce a caster-like dynamics for controlling the multiple mobile robots in coordination. By using the caster-like dynamics, multiple mobile robots could handle a single object without using the geometric relations among them and the shape of the object. The effectiveness of the caster-like dynamics is illustrated through the video in which several types mobile robots handle a single object in coordination.

Original language	English
Title of host publication	2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Pages	2215-2216
Number of pages	2
DOIs	https://doi.org/10.1109/ROBOT.2008.4543540
Publication status	Published - 2008 Sept 18
Event	2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States Duration: 2008 May 19 → 2008 May 23

Publication series

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

Other

Other	2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Country/Territory	United States
City	Pasadena, CA
Period	08/5/19 → 08/5/23

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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10.1109/ROBOT.2008.4543540

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Handling of a single object by multiple mobile robots based on caster-like dynamics. / Hirata, Yasuhisa; Kume, Youhei; Wang, Zhi Dong et al.
2008 IEEE International Conference on Robotics and Automation, ICRA 2008. 2008. p. 2215-2216 4543540 (Proceedings - IEEE International Conference on Robotics and Automation).

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

Hirata, Y, Kume, Y, Wang, ZD & Kosuge, K 2008, Handling of a single object by multiple mobile robots based on caster-like dynamics. in 2008 IEEE International Conference on Robotics and Automation, ICRA 2008., 4543540, Proceedings - IEEE International Conference on Robotics and Automation, pp. 2215-2216, 2008 IEEE International Conference on Robotics and Automation, ICRA 2008, Pasadena, CA, United States, 08/5/19. https://doi.org/10.1109/ROBOT.2008.4543540

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AB - When we consider a coordination of multiple mobile robots, it is difficult to know the geometric relations among them. Errors in position and orientation of each robot detected by dead reckoning system are inevitable because of the slippage between wheels and the ground. To overcome these problems, in this article, we introduce a caster-like dynamics for controlling the multiple mobile robots in coordination. By using the caster-like dynamics, multiple mobile robots could handle a single object without using the geometric relations among them and the shape of the object. The effectiveness of the caster-like dynamics is illustrated through the video in which several types mobile robots handle a single object in coordination.

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Handling of a single object by multiple mobile robots based on caster-like dynamics

Abstract

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