A Mechanism for Dynamic Coordination of Multiple Robots

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General Robotics, Automation, Sensing and Perception Laboratory
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cooperative robotics
multi-robot coordination
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Chaimowicz, Luiz
Campos, Mario F. M.
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In this paper, we present a mechanism for coordinating multiple robots in the execution of cooperative tasks. The basic idea in the paper is to assign to each robot in the team, a role that determines its actions during the cooperation. The robots dynamically assume and exchange roles in a synchronized manner in order to perform the task successfully, adapting to unexpected events in the environment. We model this mechanism using a hybrid systems framework and apply it in different cooperative tasks: cooperative manipulation and cooperative search and transportation. Simulations and real experiments demonstrating the effectiveness of the proposed mechanism are presented.

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2004-07-01
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Postprint version. Published in Autonomous Robots, Volume 17, Issue 1, July 2004, pages 7-21. The original publication is available at www.springerlink.com. Publisher URL: http://dx.doi.org/10.1023/B:AURO.0000032935.30271.a5
Postprint version. Published in Autonomous Robots, Volume 17, Issue 1, July 2004, pages 7-21. The original publication is available at www.springerlink.com. Publisher URL: http://dx.doi.org/10.1023/B:AURO.0000032935.30271.a5
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