Object Closure and Manipulation by Multiple Cooperating Mobile Robots
Files
Penn collection
General Robotics, Automation, Sensing and Perception Laboratory
Degree type
Discipline
Subject
distributed robotics
group behaviors
multi-robot cooperation
multi-robot systems
robot soccer
Funder
Grant number
License
Copyright date
Distributor
Related resources
Author
Contributor
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. We show how simple, first-order, potential field based controllers can be used to implement multirobot manipulation tasks.
Advisor
Date of presentation
Conference name
Conference dates
Conference location
Date Range for Data Collection (Start Date)
Date Range for Data Collection (End Date)
Digital Object Identifier
Series name and number
Volume number
Issue number
Publisher
Publisher DOI
Comments
Postprint version. Published in Lecture Notes in Computer Science, Volume 5, 6th International Symposium on Distributed Autonomous Robotic Systems, 2002. Publisher URL: http://www.springeronline.com/sgw/cda/frontpage/0,11855,1-185-72-2295068-0,00.html