Cooperative Overhead transportation of a box by decentralized mobile robots

Conference proceedings article

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Publication Details

Author list: Udomkun M., Tangamchit P.

Publisher: Hindawi

Publication year: 2008

Start page: 1161

End page: 1166

Number of pages: 6

ISBN: 9781424416769

ISSN: 0146-9428

eISSN: 1745-4557

URL: https://www.scopus.com/inward/record.uri?eid=2-s2.0-58049123875&doi=10.1109%2fRAMECH.2008.4681468&partnerID=40&md5=b27583abab30b4062fd91d58d2e42cc4

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 behaviorbased architecture, act as a mechanism to induce 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

Cooperative robotics, Decentralized robots