Utilize este identificador para referenciar este registo: http://hdl.handle.net/10400.22/4031
Título: Coordinated transportation of a large object by a team of three robots
Autor: Soares, Rui
Bicho, Estela
Data: 2006
Resumo: Dynamical systems theory in this work is used as a theoretical language and tool to design a distributed control architecture for a team of three robots that must transport a large object and simultaneously avoid collisions with either static or dynamic obstacles. 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 constraints are modeled as attractors (i.e. asymptotic stable states) of the 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 asymptotical stable states. Computer simulations support the validity of the dynamical model architecture.
Peer review: no
URI: http://hdl.handle.net/10400.22/4031
Versão do Editor: http://www.icinco.org/ICINCO2006/
Aparece nas colecções:ESTGF - INF - Comunicações em Eventos Científicos

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