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Conference Paper: Transportation of a single object by multiple decentralized-controlled nonholonomic mobile robots

TitleTransportation of a single object by multiple decentralized-controlled nonholonomic mobile robots
Authors
Kosuge, KazuhiroSato, Manabu
Issue Date1999
Citation
IEEE International Conference on Intelligent Robots and Systems, 1999, v. 3, p. 1681-1686 How to Cite?
DOI: http://dx.doi.org/10.1109/IROS.1999.811720
AbstractIn this paper, we propose a decentralized control algorithm for transporting a single object by multiple nonholonomic mobile robots. We extend the leader-follower type control algorithm, which we proposed for the holonomic robots, to the nonholonomic mobile robots by attaching a passive sliding mechanism to each follower. The extended control algorithm is experimentally applied to three tracked mobile robots, and the experimental results illustrate the validity of the extended control algorithm.
Persistent Identifierhttp://hdl.handle.net/10722/302693

 

DC FieldValueLanguage
dc.contributor.authorKosuge, Kazuhiro-
dc.contributor.authorSato, Manabu-
dc.date.accessioned2021-09-07T08:42:24Z-
dc.date.available2021-09-07T08:42:24Z-
dc.date.issued1999-
dc.identifier.citationIEEE International Conference on Intelligent Robots and Systems, 1999, v. 3, p. 1681-1686-
dc.identifier.urihttp://hdl.handle.net/10722/302693-
dc.description.abstractIn this paper, we propose a decentralized control algorithm for transporting a single object by multiple nonholonomic mobile robots. We extend the leader-follower type control algorithm, which we proposed for the holonomic robots, to the nonholonomic mobile robots by attaching a passive sliding mechanism to each follower. The extended control algorithm is experimentally applied to three tracked mobile robots, and the experimental results illustrate the validity of the extended control algorithm.-
dc.languageeng-
dc.relation.ispartofIEEE International Conference on Intelligent Robots and Systems-
dc.titleTransportation of a single object by multiple decentralized-controlled nonholonomic mobile robots-
dc.typeConference_Paper-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1109/IROS.1999.811720-
dc.identifier.scopuseid_2-s2.0-0033328566-
dc.identifier.volume3-
dc.identifier.spage1681-
dc.identifier.epage1686-

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