Multi-robot Manipulation Without Communication
Multi-robot Manipulation Without Communication
复制标题
无需通信的多机器人操控
DOI：
10.1007/978-4-431-55879-8_10
复制
发表时间：
2014
期刊：
影响因子：
--
通讯作者：
M. Schwager
中科院分区：
文献类型：
--
作者：
Zijian Wang;M. Schwager
本文提出了一种新的多机器人操作算法，它允许大量的小型机器人移动一个相对较大的物体沿着一个期望的轨迹到一个目标位置。该算法不需要机器人之间的显式通信网络。相反，机器人通过感知物体本身的运动来协调它们的动作。它被证明，这隐含的信息是足够的，以同步由机器人施加的力。然后，一个领导机器人引导同步组的力量来操纵物体通过期望的轨迹到达目标。本文提出的算法，被证明是控制平移和旋转运动的对象。仿真演示了两种情况下的方法，20个机器人运输矩形木板和1000个机器人运输钢琴。
This paper presents a novel multi-robot manipulation algorithm which allows a large number of small robots to move a comparatively large object along a desired trajectory to a goal location. The algorithm does not require an explicit communication network among the robots. Instead, the robots coordinate their actions through sensing the motion of the object itself. It is proven that this implicit information is sufficient to synchronize the forces applied by the robots. A leader robot then steers the forces of the synchronized group to manipulate the object through the desired trajectory to the goal. The paper presents algorithms that are proven to control both translational and rotational motion of the object. Simulations demonstrate the approach for two scenarios with 20 robots transporting a rectangular plank and 1000 robots transporting a piano.