Utilize este identificador para referenciar este registo: http://hdl.handle.net/10400.22/4027
Título: Object transportation by multiple mobile robots controlled by attractor dynamics: theory and implementation
Autor: Soares, Rui
Bicho, Estela
Machado, Toni
Erlhagen, Wolfram
Data: 2007
Editora: IEEE
Relatório da Série N.º: Intelligent Robots and Systems;
Resumo: Dynamical systems theory is used as a theoretical language and tool to design a distributed control architecture for teams of mobile robots, that must transport a large object and simultaneously avoid collisions with (either static or dynamic) obstacles. Here we demonstrate in simulations and implementations in real robots that it is possible to simplify the architectures presented in previous work and to extend the approach to teams of n robots. The robots have no prior knowledge of the environment. The motion of each robot is controlled by a time series of asymptotical stable states. The attractor dynamics permits the integration of information from various sources in a graded manner. As a result, the robots show a strikingly smooth an stable team behaviour.
Peer review: yes
URI: http://hdl.handle.net/10400.22/4027
ISBN: 978-1-4244-0912-9
Versão do Editor: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=4399019
Aparece nas colecções:ESTGF - INF - Comunicações em Eventos Científicos

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