Multi-Agent Prototyping for a Cooperative Carrying Task

摘要：

Many useful tasks require both mobility and manipulation; one or more mobile robots must move to a given location some manipulations. After a brief review of the current research on multi-robot systems, the paper presents a multi-agent system for carrying a large object by cooperation of two or multiple mobile manipulators from an initial to a desired final position. The multi-agent system has been developed by using the oRis platform. We present also the behaviors of each robot, their interactions, the communication protocol and obstacle avoidance behavior. Computed simulations have been conducted and some preliminary results are given to test the proposed methodology.

作者: Salima DJEBRANI Foudil ABDESSEMED

作者单位: Electrical Department,Faculty of Engineering,University of Batna,05000 Batna,Algeria Electrical Department,Faculty of Engineering,Al Jouf University,PO.Box 2048,Sakaka,KSA

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 1421-1426

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）