Distributed control for a modular reconfigurable cliff robot

被引：0

作者：

Pirjanian, P ^{[1
]}

Leger, C ^{[1
]}

Mumm, E ^{[1
]}

Kennedy, B ^{[1
]}

Garrett, M ^{[1
]}

Aghazarian, H ^{[1
]}

Farritor, S ^{[1
]}

Schenker, P ^{[1
]}

机构：

[1] CALTECH, Jet Prop Lab, Pasadena, CA 91109 USA

来源：

2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS | 2002年

关键词：

D O I：

暂无

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 have developed a cliff robot that is capable of descending into a cliff and autonomous navigation to way-points on the cliff wall.. This aggressive mobility system consists of an ensemble of three tethered robots, which cooperate under tight coordinated control and collective state estimation. The distributed task is described as a behavior network, which consists of a network of controllers spread across the robots and which interact through communication links to achieve a collective control objective. Fielded experimental results show that the cliff robot is capable of navigating to designated way-points on a cliff wall using the proposed control scheme.

引用

页码：4083 / 4088

页数：6

共 7 条

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