Utilize este identificador para referenciar este registo: http://hdl.handle.net/10400.22/4029
Título: Competitive dynamics for behavior coordination in a joint transportation task
Autor: Bicho, Estela
Louro, Luis
Soares, Rui
Erlhagen, Wolfram
Palavras-chave: Motion coordination
Mobile robots
Payload/object transportation
Collision avoidance
Competitive dynamics
Attractor dynamics
Data: 2008
Resumo: We address the problem of coordinating two non-holonomic mobile robots that move in formation while transporting a long payload. A competitive dynamics is introduced that gradually controls the activation and deactivation of individual behaviors. This process introduces (asymmetrical) hysteresis during behavioral switching. As a result behavioral oscillations, due to noisy information, are eliminated. Results in indoor environments show that if parameter values are chosen within reasonable ranges then, in spite of noise in the robots communi- cation and sensors, the overall robotic system works quite well even in cluttered environments. The robots overt behavior is stable and smooth.
Peer review: yes
URI: http://hdl.handle.net/10400.22/4029
Aparece nas colecções:ESTGF - INF - Comunicações em Eventos Científicos

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