Cooperative Task Execution between Modular Robots Based on Tight-Loose Cooperation Strategies
The complexity in the execution of cooperative tasks is high due to the fact that a robot team requires movement coordination at the beginning of the mission and continuous coordination during the execution of the task. A variety of techniques have been proposed to give a solution to this problem assuming standard mobile robots. This work focuses on presenting the execution of a cooperative task by a modular robot team. The complexity of the task execution increases due to the fact that each robot is composed of modules which have to be coordinated in a proper way to successfully work. A combined tight and loose cooperation strategy is presented and a bar-pushing example is used as a cooperative task to show the performance of this type of system.
Jos(e) Baca Claudio Rossi Manuel Ferre Rafael Aracil
Centre for Automation and Robotics Universidad Polit′ecnica de Madrid
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
1000-1005
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）