Departmental Papers (MEAM)
Document Type
Journal Article
Date of this Version
July 2004
Abstract
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.
Keywords
cooperative robotics, multi-robot coordination
Date Posted: 13 August 2005
This document has been peer reviewed.
Comments
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