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Content Provider | IEEE Xplore Digital Library |
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Author | Udomkun, M. Tangamchit, P. |
Copyright Year | 2008 |
Description | Author affiliation: Dept. of Control Syst. & Instrum. Eng., King Mongkut's Univ. of Technol. Thonburi, Bangkok (Udomkun, M.; Tangamchit, P.) |
Abstract | We demonstrated that the regular behavior-based architecture can be used to control decentralized multiple robots on a tightly-coupled task. With carefully designed behaviors, the robots can work cooperatively and effectively. We divided the behaviors into two types: individual behaviors and group behaviors. Group behaviors, embedded as layers in the behavior-based architecture, act as a mechanism to induced coordination and synchronization among robots. The tightly-coupled task that we use as our testbed is the cooperative overhead transportation of a box, in which two robots have to carry a box over their tops. Little movement error will result in a fall of the box. The result illustrated the validity of the proposed method. The robots can move the box to a goal without falling down with a success rate of 80%. |
Starting Page | 633 |
Ending Page | 636 |
File Size | 442377 |
Page Count | 4 |
File Format | |
ISBN | 9781424421015 |
DOI | 10.1109/ECTICON.2008.4600513 |
Language | English |
Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Publisher Date | 2008-05-14 |
Publisher Place | Thailand |
Access Restriction | Subscribed |
Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Subject Keyword | Robot kinematics Transportation Distributed control Robot sensing systems Mobile robots Synchronization Robots |
Content Type | Text |
Resource Type | Article |
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