Skip to main content
SpringerLink
Log in

A Robot Duo for Cooperative Autonomous Navigation

  • Conference paper
Distributed Autonomous Robotic Systems 2

Abstract

A team consisting of a master robot and a slave robot is used to perform cooperative navigation tasks. The master tracks a beacon carried by the slave and manages the navigation strategy, using the slave as a portable landmark. A hybrid behavioral architecture is adopted for control and a many-valued logical paradigm allows to fuse heteregeneous informations and to deal with uncertainty. Various localization and navigation exercises have been demonstrated.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 84.99
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 109.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. M.O. Anderson, M.D. McKay, B.S. Richardson. Multirobot Automated Indoor Floor Characterization Team. 1996 IEEE International Conference on Robotics and Automation,Minneapolis, 1996, pp.1750–1753.

    Google Scholar 

  2. Y. Arai, S.j. Suzuki, S.y. Kotosaka, H. Asama, H. Kaetsu, I. Endo. Collision avoidance among Multiple Autonomous Mobile Robots using LOCISS (LOcally Communicable Infrared Sensory System). 1996 IEEE International Conference on Robotics and Automation,Minneapolis, 1996, pp.2091–2096.

    Google Scholar 

  3. E. Ardizzone, A. Camurri, M. Frixione, R. Zaccaria. A Hybrid Scheme for Action Representation. International Journal of Intelligent Systems Vol.8, pp. 371–403, 1993.

    Google Scholar 

  4. D.P. Barnes, B. Bury, J.O. Gray, S.L. Hill, D. Eustace. Research Platform for Investigating Mobile Robot Co-operacy. In Proceedings of the 1993 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems,Yokohama, 1993, pp. 1642–1645 .

    Google Scholar 

  5. P. Bison. YAK Design and Implementation. LADSEB-CNR Report, Padova, 1993.

    Google Scholar 

  6. P. Bison, G. Chemello, C. Sossai, G. Trainito. Boolean-valued Logic vs. Fuzzy Logic for Reasoning in Robotics. IV Convegno AI*IA, Parma, Italy, 1994.

    Google Scholar 

  7. P. Bison, G. Chemello, C. Sossai, G. Trainito. An Algebraic Logic for Autonomous Systems. Intelligent Autonomous Systems, IAS-4, Karlsruhe, 1995.

    Google Scholar 

  8. D.L. Boley, K.T. Sutherland. Recursive Total Least Squares: An Alternative to the Discrete Kalman Filter. University of Minneapolis Report TR 91–8, Minneapolis, 1991.

    Google Scholar 

  9. J. Borenstein. The CLAPPER: a Dual-drive Mobile Robot with Internal Correction of Dead Reckoning Errors. In Proceedings 1994 IEEE International Conference on Robotics and Automation, ICRA’94,IEEE Computer Society Press, San Diego, 1994, Vol.4, pp. 3085–3090 .

    Google Scholar 

  10. A. Braggiotti, G. Chemello, C. Sossai, G. Trainito. Integrating the Symbolic and the Sub-symbolic Level in Sonar-based Navigation. In Advances in Artificial Intelligence, P. Torasso (Ed.) Springer-Verlag, Torino, 1993, Vol. 728, pp. 90–95.

    Book  Google Scholar 

  11. A. Cai, T. Fukuda, F. Arai, H. Ishihara. Cooperative Path Planning and Navigation Based on Distributed Sensing. 1996 IEEE International Conference on Robotics and Automation,Minneapolis, 1996, pp. 2079–2084 .

    Google Scholar 

  12. G. Chemello, C. Sossai, G. Trainito. A Homogeneous Formalism for Reasoning and Learning in Mobile Robotics. IEEE/RSJ International Conference on Intelligent Robots and Systems IROS ‘83,Yokohama, 1993, pp. 2228–2233 .

    Google Scholar 

  13. M. Frixione, M. Piaggio, G. Vercelli, R. Zaccaria. A Cognitive Hybrid Model for Autonomous Navigation. In Topics in Artificial Intelligence,M. Gori, G. Soda (Eds.), Springer Verlag, Florence, 1995, pp. 303–314 .

    Google Scholar 

  14. T. Kanbara, J. Miura, Y. Shirai. Selection of Efficient Landmarks for an Autonomous Vehicle. In Proceedings of the 1993 IEEE/RSJ Int. Conf on Intelligent Robots and Systems,Yokohama, 1993, pp. 1881–1888 .

    Google Scholar 

  15. L. Kleeman, A. Russel. Thermal Path Following Robot Vehicle: Sensor Design and Motion Control. In Proceedings of the 1993 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems,1993, pp. 1319–1323 .

    Google Scholar 

  16. R. Kurazume, S. Nagata, S. Hirose. Cooperative Positioning with Multiple Robots. 1996 IEEE International Conference on Robotics and Automation, Minneapolis, 1994, pp. 1250–1257.

    Google Scholar 

  17. R. Kurazume, S. Hirose, S. Nagata, N. Sashida. Study on Cooperative Positioning System (Basic Principle and Measurement Experiment). 1996 IEEE International Conference on Robotics and Automation Minneapolis, 1996, pp. 1421–1426 .

    Google Scholar 

  18. A.R. Russel. Laying and Sensing Odor Markings as a Strategy for Assisting Mobile Robot Navigation Tasks. IEEE Robotics and Automation Magazine, pp. 3–9, 1995.

    Google Scholar 

  19. H. Sugiyama A Method for an Autonomous Mobile Robot to Recognize its Position in the Global Coordinate System when Building a Map. In Proceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems Yokohama, Japan, 1993, Vol.3, pp. 2186–2191 .

    Google Scholar 

  20. K. Tashiro, J. Ota, Y.C. Lin, T. Arai. Design of the Optimal Arrangement of Artificial Landmarks. In Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems, Human Robt Interaction and Cooperative Robots, Pittsburgh, 1995, Vol. 1, pp. 407–413.

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Inst. for Systems Theory and Biomedical Eng. of the Italian National Research Council (Ladseb-CNR), Padova, Italy

    Paolo Bison & Gaetano Trainito

Authors
  1. Paolo Bison
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Gaetano Trainito
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. The Institute of Physical and Chemical Research (RIKEN), Hirosawa 2-1, 351-01, Wako, Saitama, Japan

    Hajime Asama (Senior Research Scientist) & Isao Endo (Chief Researcher) (Senior Research Scientist) &  (Chief Researcher)

  2. Department of Micro System Engineering, Nagoya University, Furo-cho, 464-01, Chikusa-ku, Nagoya, Japan

    Toshio Fukuda (Professor) (Professor)

  3. Department of Precision Machinery Engineering, University of Tokyo, Hongo 7-3-1, Bunkyo-ku, Tokyo 113, Japan

    Tamio Arai (Professor) (Professor)

Rights and permissions

Reprints and permissions

Copyright information

© 1996 Springer Japan

About this paper

Cite this paper

Bison, P., Trainito, G. (1996). A Robot Duo for Cooperative Autonomous Navigation. In: Asama, H., Fukuda, T., Arai, T., Endo, I. (eds) Distributed Autonomous Robotic Systems 2. Springer, Tokyo. https://doi.org/10.1007/978-4-431-66942-5_37

Download citation

  • DOI: https://doi.org/10.1007/978-4-431-66942-5_37

  • Publisher Name: Springer, Tokyo

  • Print ISBN: 978-4-431-66944-9

  • Online ISBN: 978-4-431-66942-5

  • eBook Packages: Springer Book Archive

Publish with us

Policies and ethics

Search

Navigation