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Distributed Autonomous Robotic Systems 5 pp 165–174Cite as

A Decentralized Test Algorithm for Object Closure by Multiple Cooperating Mobile Robots

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Abstract

We address the manipulation of planar objects by multiple cooperating mobile robots using the concept of Object Closure. In contrast to Form or Force Closure, Object Closure is a condition under which the object is trapped so that there is no feasible path for the object from the given position to any position that is beyond a specified threshold distance. Once Object Closure is achieved, the robots can cooperatively drag or flow the trapped object to the desired goal. In this paper, we define object closure and develop a set of decentralized algorithms that allow the robots to achieve and maintain Object Closure.

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Author information

Authors and Affiliations

  1. Intelligent Robotics Lab., Graduate School of Eng., Tohoku Univ., Aobayama 01, Sendai, 980-8579, Japan

    ZhiDong Wang

  2. GRASP Lab., CIS, University of Pennsylvania, 3401 Walnut Street, Philadelphia, PA, 19104, USA

    Vijay Kumar

Authors
  1. ZhiDong Wang
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  2. Vijay Kumar
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Editor information

Editors and Affiliations

  1. Advanced Engineering Center, RIKEN (The Institute of Physical and Chemical Research), 2-1 Hirosawa, 351-0198, Wako-shi, Saitama, Japan

    Hajime Asama (Head of Instrumentation Project Promotion Division) (Head of Instrumentation Project Promotion Division)

  2. Department of Precision Machinery Engineering, The Unviersity of Tokyo, 7-3-1 Hongo, 113-8656, Bunkyo-ku, Tokyo, Japan

    Tamio Arai (Professor) (Professor)

  3. Department of Micro System Engineering, Nagoya University, 464-8603, Furo-cho, Chikusa-ku, Nagoya, Japan

    Toshio Fukuda (Professor) (Professor)

  4. Department of Intelligent Systems Graduate School of Information and Electrical Engineering, Kyushu University, 6-10-1 Hakozaki, 812-8581, Higaschi-ku, Fukuoka, Japan

    Tsutomu Hasegawa (Professor) (Professor)

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© 2002 Springer-Verlag Tokyo

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Wang, Z., Kumar, V. (2002). A Decentralized Test Algorithm for Object Closure by Multiple Cooperating Mobile Robots. In: Asama, H., Arai, T., Fukuda, T., Hasegawa, T. (eds) Distributed Autonomous Robotic Systems 5. Springer, Tokyo. https://doi.org/10.1007/978-4-431-65941-9_17

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  • DOI: https://doi.org/10.1007/978-4-431-65941-9_17

  • Publisher Name: Springer, Tokyo

  • Print ISBN: 978-4-431-65943-3

  • Online ISBN: 978-4-431-65941-9

  • eBook Packages: Springer Book Archive

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