Abstract
We describe a framework and control algorithms for coordinating multiple mobile robots with manipulators focusing on tasks that require grasping, manipulation, and transporting large and possibly flexible objects without special purpose fixtures. Because each robot has an independent controller and is autonomous, the coordination and synergy are realized through sensing and communication. The robots can cooperatively transport objects and march in a tightly controlled formation, while also having the capability to navigate autonomously. We describe the key aspects of the overall hierarchy and the basic algorithms, with specific applications to our experimental testbed consisting of three robots.
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References
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© 2000 Springer-Verlag London Limited
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Sugar, T., Kumar, V. (2000). Control and coordination of multiple mobile robots in manipulation and material handling tasks. In: Experimental Robotics VI. Lecture Notes in Control and Information Sciences, vol 250. Springer, London. https://doi.org/10.1007/BFb0119381
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DOI: https://doi.org/10.1007/BFb0119381
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Publisher Name: Springer, London
Print ISBN: 978-1-85233-210-5
Online ISBN: 978-1-84628-541-7
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