Moving furniture with teams of autonomous robots
Moving furniture with teams of autonomous robots
复制标题
使用自主机器人团队移动家具
DOI：
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发表时间：
1995
期刊：
影响因子：
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通讯作者：
J. Jennings
中科院分区：
文献类型：
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作者：
D. Rus;B. Donald;J. Jennings
作者希望用一组可以推动物体的机器人来组织房间里的家具。作者展示了机器人如何通过协调推动来改变物体的姿态（位置和方向），然后他们提出了是否需要规划、全局控制和明确的通信来协同改变物体的姿态。作者的回答是否定的，并以证人的身份提出了四种使用不同数量的状态、感知和通信的合作操作协议。作者在信息不变框架下对这些协议进行了分析。作者形式化了机器人协议的资源权衡的概念，并给出了这里讨论的特定协议的权衡。
The authors wish to organize furniture in a room with a team of robots that can push objects. The authors show how coordinated pushing by robots can change the pose (position and orientation) of objects and then they ask whether planning, global control, and explicit communication are necessary for cooperatively changing the pose of objects. The authors answer in the negative and present, as witnesses, four cooperative manipulation protocols that use different amounts of state, sensing, and communication. The authors analyze these protocols in the information invariant framework. The authors formalize the notion of resource tradeoffs for robot protocols and give the tradeoffs for the specific protocols discussed here.