Coordinated Transportation of a Large Object by a Team of Three Robots

Rui Soares, Estela Bicho

Abstract

Dynamical systems theory in this work is used as a theoretical language and tool to design a distributed control architecture for a team of three robots that must transport a large object and simultaneously avoid collisions with either static or dynamic obstacles. The robots have no prior knowledge of the environment. The dynamics of behavior is defined over a state space of behavior variables, heading direction and path velocity. Task constraints are modeled as attractors (i.e. asymptotic stable states) of the behavioral dynamics. For each robot, these attractors are combined into a vector field that governs the behavior. By design the parameters are tuned so that the behavioral variables are always very close to the corresponding attractors. Thus the behavior of each robot is controlled by a time series of asymptotical stable states. Computer simulations support the validity of the dynamical model architecture.

References

  1. Ahamadabadi M. and Nakano E. ”A cooperative multiple robot system for object lifting and transferring tasks”. In Proc. ROBOMECH'96, Annual Conf. of The Japanese Society of Mechanical Eng. on Robotics and Mechatronics, 1996.
  2. Aiyama Y. et al. ”Cooperative transportation by two four-legged robots with implicit communication”. Robotics and Autonomous Systems, 1999.
  3. Bicho E., Mallet P. and Schöner G. ”Target representation on an autonomous vehicle with low level sensors”. The Int. Jou. of Robotics and Research, 19(5):424-447, 2000.
  4. Ahmadabadi M. and Nakano E. ”A constrain and move approach to distributed object manipulation”. IEEE Transactions on Robotics and Automation, 17(2):157-172, 2001.
  5. Chaimowicz L., Sugar T., Kumar V. and Campos V. ”An architecture for tightly coupled multi-robot cooperation”. in Proc. IEEE ICRA, 2292-2297, 2001.
  6. Soares R., Bicho E. ”Using Attractor Dynamics to Generate Decentralized Motion Control of Two Robots Transporting a Long Object in Coordination”. Proc. of the 2002 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, EPFL, Lausanne, 2002.
  7. Bicho E. ”Dynamic approach to Behavior-Based Robotics: design, specification, analysis, simulation and implementation”. Shaker Vergal, 2000.
  8. Bicho E., Louro L., et al. ”Coordinated transportation with minimal explicit communication between robots”. 5th IFAC Symp. on IAV, Lisbon, Portugal, July 5-7, 2004.
  9. Wang Z., Takano Y., Hirata Y. and Kosuge K. ”From Human to Pushing Leader Robot: Leading a Decentralized Multirobot System for Object Handling”. in Proc. IEEE Int. Conf. Robotics and Biomimetics, 2004.
  10. Hirata Y., Kume Y., Sawada T., Wang Z. and Kosuge K. ”Handling of an object by multiple mobile manipulators in coordination based on caster-like dynamics”. in Proc. IEEE Int. Conf. Robotics and Automation, 807-812, 2004.
Download


Paper Citation


in Harvard Style

Soares R. and Bicho E. (2006). Coordinated Transportation of a Large Object by a Team of Three Robots . In Proceedings of the 2nd International Workshop on Multi-Agent Robotic Systems - Volume 1: MARS, (ICINCO 2006) ISBN 978-972-8865-66-5, pages 66-79. DOI: 10.5220/0001222600660079


in Bibtex Style

@conference{mars06,
author={Rui Soares and Estela Bicho},
title={Coordinated Transportation of a Large Object by a Team of Three Robots},
booktitle={Proceedings of the 2nd International Workshop on Multi-Agent Robotic Systems - Volume 1: MARS, (ICINCO 2006)},
year={2006},
pages={66-79},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001222600660079},
isbn={978-972-8865-66-5},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 2nd International Workshop on Multi-Agent Robotic Systems - Volume 1: MARS, (ICINCO 2006)
TI - Coordinated Transportation of a Large Object by a Team of Three Robots
SN - 978-972-8865-66-5
AU - Soares R.
AU - Bicho E.
PY - 2006
SP - 66
EP - 79
DO - 10.5220/0001222600660079