Utilize este identificador para referenciar este registo: http://hdl.handle.net/10400.22/4028
Título: Coordinated transportation of a large object by a team of two robots
Autor: Soares, Rui
Bicho, Estela
Data: 2006
Editora: robótica
Relatório da Série N.º: Revista robótica; Nº 65
Resumo: In this paper dynamical systems theory is used as a theoretical language and tool to design a distributed control architecture for a team of two robots that must transport a large object and simultaneously avoid collisions with obstacles (either static or dynamic). This work extends the previous work with two robots (see [1] and [5]). However here we demonstrate that it’s possible to simplify the architecture presented in [1] and [5] and reach an equally stable global behavior. The robots have no prior knowledge of the environment. The dynamics of behavior is defined over a state space of behavior variables, heading direction and path velocity. Task constrains are modeled as attractors (i.e. asymptotic stable states) of a behavioral dynamics. For each robot, these attractors are combined into a vector field that governs the behavior. By design the parameters are tuned so that the behavioral variables are always very close to the corresponding attractors. Thus the behavior of each robot is controlled by a time series of asymptotic stable states. Computer simulations support the validity of the dynamical model architecture.
Peer review: yes
URI: http://hdl.handle.net/10400.22/4028
Versão do Editor: http://www.robotica.pt/
http://www.robotica2006.dei.uminho.pt/robotica2006/
Aparece nas colecções:ESTGF - INF - Artigos

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