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Advisor(s)
Abstract(s)
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.
Description
Keywords
Motion coordination Mobile robots Payload/object transportation Collision avoidance Competitive dynamics Attractor dynamics