Graspless coordinated transportation over natural flat terrain | IEEE Conference Publication | IEEE Xplore

Graspless coordinated transportation over natural flat terrain


Abstract:

This work presents preliminary considerations in the development of a multirobot system for transportation of load with no exchange of information between robots and no f...Show More

Abstract:

This work presents preliminary considerations in the development of a multirobot system for transportation of load with no exchange of information between robots and no force sensing under the assumptions that the load has a uniform distribution of mass and that motion is performed over natural flat terrain. The robots in the team are homogeneous machines with nonholonomic limitations and passive suspension mechanisms. Each robot adjusts its velocity by sensing the position of the load through an on-board passive arm, so that a global coordination scheme can emerge from local control. Experiments with two and three robots cooperating are reported.
Date of Conference: 01-03 December 2004
Date Added to IEEE Xplore: 13 June 2005
Print ISBN:0-7803-8645-0
Conference Location: Singapore

References

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