Cooperative behavior-based control of decentralized mobile robots on an overhead box carrying task

Conference proceedings article

Authors/Editors

POJ TANGAMCHIT

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Publication Details

Author list: Udomkun M., Tangamchit P.

Publisher: Hindawi

Publication year: 2008

Volume number: 2

Start page: 633

End page: 636

Number of pages: 4

ISBN: 1424421012; 9781424421015

ISSN: 0146-9428

eISSN: 1745-4557

URL: https://www.scopus.com/inward/record.uri?eid=2-s2.0-52949152895&doi=10.1109%2fECTICON.2008.4600513&partnerID=40&md5=3b4298ed911042a9bc68f1440c2ce256

Languages: English-Great Britain (EN-GB)

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Abstract

We demonstrated that the regular behavior-based architecture can be used to control decentralized multiple robots on a tightly-coupled task. With carefully designed behaviors, the robots can work cooperatively and effectively. We divided the behaviors into two types: individual behaviors and group behaviors. Group behaviors, embedded as layers in the behavior-based architecture, act as a mechanism to induced coordination and synchronization among robots. The tightly-coupled task that we use as our testbed is the cooperative overhead transportation of a box, in which two robots have to carry a box over their tops. Little movement error will result in a fall of the box. The result illustrated the validity of the proposed method. The robots can move the box to a goal without falling down with a success rate of 80%. ฉ 2008 IEEE.

Keywords