Multi-robot manipulation via caging in environments with obstacles

被引：101

作者：

Fink, Jonathan ^{[1
]}

Hsieh, M. Ani ^{[2
]}

Kumar, Vijay ^{[1
]}

机构：

[1] Univ Penn, Grasp Lab, Philadelphia, PA 19104 USA

[2] Swarthmore Coll, Dept Engn, Swarthmore, PA 19081 USA

来源：

2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9 | 2008年

关键词：

D O I：

10.1109/ROBOT.2008.4543409

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We present a decentralized approach to multi-robot manipulation where the team of robots surround and trap an object and transport it, by dragging or pushing, to the goal configuration in an environment with obstacles. The proposed feedback controllers are obtained by sequentially composing vector fields or behaviors and are decentralized in the sense that robots do not exchange each other's state information. Rather, cooperative manipulation is achieved by relying solely on each robot's local information and a global knowledge of the task. We present computer simulations and experimental results obtained using our multi-robot testbed.

引用

页码：1471 / +

页数：2

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