Proceedings ArticleDOI
An architecture for tightly coupled multi-robot cooperation
Luiz Chaimowicz,Thomas G. Sugar,Vijay Kumar,Mario F. M. Campos +3 more
- Vol. 3, pp 2992-2997
TLDR
An architecture for tightly coupled multi-robot coordination that is well suited to cooperative manipulation tasks is proposed and the experimental implementation and demonstration in a cooperative transportation task, in which two and three heterogeneous robots cooperate to carry a large object in an environment containing obstacles.Abstract:
Proposes an architecture for tightly coupled multi-robot coordination that is well suited to cooperative manipulation tasks. At all times, a robot is identified as a leader, while the others are designated as followers. The assignment of roles and the coordination between the robots is guaranteed by communication protocols and control algorithms. The key feature is the flexibility that allows changes in leadership and assignment of roles during the execution of a task. We describe the experimental implementation and demonstration in a cooperative transportation task, in which two and three heterogeneous robots cooperate to carry a large object in an environment containing obstacles.read more
Citations
More filters
Journal ArticleDOI
I and i
TL;DR: There is, I think, something ethereal about i —the square root of minus one, which seems an odd beast at that time—an intruder hovering on the edge of reality.
Journal ArticleDOI
Multirobot systems: a classification focused on coordination
TL;DR: A survey of the recent work in the area ofMultirobot systems by specifically examining the forms of cooperation and coordination realized in the MRS, and proposes a new taxonomy for classification of the approaches to coordination in MRS.
Traderbots: a new paradigm for robust and efficient multirobot coordination in dynamic environments
TL;DR: TraderBots is developed, a market-based coordination approach that is inherently distributed, but can also opportunistically form centralized subgroups to improve efficiency.
Proceedings ArticleDOI
Dynamic role assignment for cooperative robots
TL;DR: The role assignment under a hybrid systems framework is model, using a hybrid automaton to represent roles, transitions and controllers, based on a dynamic role-assignment mechanism in which the robots assume and exchange roles during cooperation.
Journal ArticleDOI
CAMPOUT: a control architecture for tightly coupled coordination of multirobot systems for planetary surface exploration
Terry Huntsberger,Paolo Pirjanian,Ashitey Trebi-Ollennu,H. Das Nayar,Hrand Aghazarian,A. J. Ganino,Michael S. Garrett,Sanjay S. Joshi,Paul S. Schenker +8 more
TL;DR: An enabling distributed control architecture called control architecture for multiro Bot planetary outposts (CAMPOUT), wherein integrated multirobot mobility and control mechanisms are derived as group compositions and coordination of more basic behaviors under a task-level multiagent planner.
References
More filters
Journal ArticleDOI
I and i
TL;DR: There is, I think, something ethereal about i —the square root of minus one, which seems an odd beast at that time—an intruder hovering on the edge of reality.
Journal ArticleDOI
ALLIANCE: an architecture for fault tolerant multirobot cooperation
TL;DR: This software architecture allows the robot team members to respond robustly, reliably, flexibly, and coherently to unexpected environmental changes and modifications in the robotteam that may occur due to mechanical failure, the learning of new skills, or the addition or removal of robots from the team by human intervention.
Journal ArticleDOI
Cooperative mobile robotics: antecedents and directions
TL;DR: A critical survey of existing works in cooperative robotics is given and open problems in this field are discussed, emphasizing the various theoretical issues that arise in the study of cooperative robotics.
Proceedings ArticleDOI
Cooperative multi-robot box-pushing
TL;DR: This paper presents and experimentally demonstrate an approach that utilizes cooperation at three levels: sensing, action, and control, and takes the advantage of a simple communication protocol to compensate for the robots' noisy and uncertain sensing.