File Download
There are no files associated with this item.
Links for fulltext
(May Require Subscription)
- Publisher Website: 10.1109/AIM.2005.1511166
- Scopus: eid_2-s2.0-27644479225
Supplementary
-
Citations:
- Scopus: 0
- Appears in Collections:
Conference Paper: Deformable caging formation control for cooperative object transporation by multiple mobile robots
| Title | Deformable caging formation control for cooperative object transporation by multiple mobile robots |
|---|---|
| Authors | |
| Issue Date | 2005 |
| Citation | IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, 2005, v. 2, p. 1158-1163 How to Cite? |
| Abstract | This paper addresses the problem of multi-robots object transportation by using the concept of Object Closure. In contrast to Form or Force Closure used, 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, the Object Closure Margin used to decide the caging formation is addressed and a decentralized control algorithm to perform a large object handling by controlling the density of robots in the caging formation is proposed. ©2004 IEEE. |
| Persistent Identifier | http://hdl.handle.net/10722/302733 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Wang, Zhi Dong | - |
| dc.contributor.author | Hirata, Yasuhisa | - |
| dc.contributor.author | Kosuge, Kazuhiro | - |
| dc.date.accessioned | 2021-09-07T08:42:29Z | - |
| dc.date.available | 2021-09-07T08:42:29Z | - |
| dc.date.issued | 2005 | - |
| dc.identifier.citation | IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, 2005, v. 2, p. 1158-1163 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/302733 | - |
| dc.description.abstract | This paper addresses the problem of multi-robots object transportation by using the concept of Object Closure. In contrast to Form or Force Closure used, 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, the Object Closure Margin used to decide the caging formation is addressed and a decentralized control algorithm to perform a large object handling by controlling the density of robots in the caging formation is proposed. ©2004 IEEE. | - |
| dc.language | eng | - |
| dc.relation.ispartof | IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM | - |
| dc.title | Deformable caging formation control for cooperative object transporation by multiple mobile robots | - |
| dc.type | Conference_Paper | - |
| dc.description.nature | link_to_subscribed_fulltext | - |
| dc.identifier.doi | 10.1109/AIM.2005.1511166 | - |
| dc.identifier.scopus | eid_2-s2.0-27644479225 | - |
| dc.identifier.volume | 2 | - |
| dc.identifier.spage | 1158 | - |
| dc.identifier.epage | 1163 | - |