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Erschienen in:
Distributed Online Patrolling with Multi-agent Teams of Sentinels and Searchers Kapitel lesen Erstes Kapitel lesen

2016 | OriginalPaper | Buchkapitel

Multi-robot Manipulation Without Communication

verfasst von : Zijian Wang, Mac Schwager

Erschienen in: Distributed Autonomous Robotic Systems

Verlag: Springer Japan

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Abstract

This paper presents a novel multi-robot manipulation algorithm which allows a large number of small robots to move a comparatively large object along a desired trajectory to a goal location. The algorithm does not require an explicit communication network among the robots. Instead, the robots coordinate their actions through sensing the motion of the object itself. It is proven that this implicit information is sufficient to synchronize the forces applied by the robots. A leader robot then steers the forces of the synchronized group to manipulate the object through the desired trajectory to the goal. The paper presents algorithms that are proven to control both translational and rotational motion of the object. Simulations demonstrate the approach for two scenarios with 20 robots transporting a rectangular plank and 1000 robots transporting a piano.

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Vorheriges Kapitel MOARSLAM: Multiple Operator Augmented RSLAM
Nächstes Kapitel Distributed Path Planning for Collective Transport Using Homogeneous Multi-robot Systems
Fußnoten
1
This requirement can be relaxed so that robots only know the velocity and acceleration of their attachment point, \(\dot{x}_i\) and \(\ddot{x}_i\), in their local reference frame, however this considerably complicates the dynamics. We treat the simpler case here for clarity.
 
2
For example, all the robots can repeatedly apply forces in random directions. Eventually enough of the forces will algin by chance to overcome static friction, and the object will begin to move.
 
3
The video is available online, http://​youtu.​be/​emZVxcl3Zg4.
 
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Metadaten
Titel
Multi-robot Manipulation Without Communication
verfasst von
Zijian Wang
Mac Schwager
Copyright-Jahr
2016
Verlag
Springer Japan
Buch
Distributed Autonomous Robotic Systems

Print ISBN: 978-4-431-55877-4

Electronic ISBN: 978-4-431-55879-8

Copyright-Jahr: 2016

DOI
https://doi.org/10.1007/978-4-431-55879-8_10

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