PERFORMANCE OF HIGH-LEVEL AND LOW-LEVEL CONTROL FOR COORDINATION OF MOBILE ROBOTS

Sisdarmanto Adinandra, Jurjen Caarls, Dragan Kostić, Hendrik Nijmeijer

Abstract

We analyze performance of different strategies for coordinated control of mobile robots. By considering an environment of a distribution center, the robots should transport goods from place A to place B while maintaining the desired formation and avoiding collisions. We evaluate performance of two collision avoidance strategies, namely a high-level and low-level collision avoidance approach, each using different feedback information and update rate. As performance measure we take into account the time to accomplish the transportation task and the tracking errors of the robots. Evaluation is done in several experiments with seven mobile robots.

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Paper Citation


in Harvard Style

Adinandra S., Caarls J., Kostić D. and Nijmeijer H. (2010). PERFORMANCE OF HIGH-LEVEL AND LOW-LEVEL CONTROL FOR COORDINATION OF MOBILE ROBOTS . In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-01-0, pages 63-71. DOI: 10.5220/0002943800630071


in Bibtex Style

@conference{icinco10,
author={Sisdarmanto Adinandra and Jurjen Caarls and Dragan Kostić and Hendrik Nijmeijer},
title={PERFORMANCE OF HIGH-LEVEL AND LOW-LEVEL CONTROL FOR COORDINATION OF MOBILE ROBOTS},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2010},
pages={63-71},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002943800630071},
isbn={978-989-8425-01-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - PERFORMANCE OF HIGH-LEVEL AND LOW-LEVEL CONTROL FOR COORDINATION OF MOBILE ROBOTS
SN - 978-989-8425-01-0
AU - Adinandra S.
AU - Caarls J.
AU - Kostić D.
AU - Nijmeijer H.
PY - 2010
SP - 63
EP - 71
DO - 10.5220/0002943800630071