A paradigm for dynamic coordination of multiple robots
A paradigm for dynamic coordination of multiple robots
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DOI：
10.1023/b:auro.0000032935.30271.a5
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发表时间：
2004-07-01
影响因子：
3.5
通讯作者：
Campos, MFM
中科院分区：
文献类型：
--
作者：
Chaimowicz, L;Kumar, V;Campos, MFM
在本文中，我们提出了一种协调多个机器人执行协作任务的范例。论文的基本思想是为团队中的每个机器人分配一个角色，决定其在合作过程中的行为。机器人以同步方式动态承担和交换角色，以便成功执行任务，适应环境中的意外事件。我们使用混合系统框架对该机制进行建模，并将其应用于不同的合作任务：合作操纵以及合作搜索和运输。仿真和实际实验证明了所提出的范例的有效性。
In this paper, we present a paradigm for coordinating multiple robots in the execution of cooperative tasks. The basic idea in the paper is to assign to each robot in the team, a role that determines its actions during the cooperation. The robots dynamically assume and exchange roles in a synchronized manner in order to perform the task successfully, adapting to unexpected events in the environment. We model this mechanism using a hybrid systems framework and apply it in different cooperative tasks: cooperative manipulation and cooperative search and transportation. Simulations and real experiments demonstrating the effectiveness of the proposed paradigm are presented.