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CLC number: TP242.2

On-line Access: 2010-12-09

Received: 2010-05-05

Revision Accepted: 2010-07-30

Crosschecked: 2010-11-17

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Journal of Zhejiang University SCIENCE C 2010 Vol.11 No.12 P.931-938

10.1631/jzus.C1000136


Cooperative transport strategy for formation control of multiple mobile robots


Author(s):  Fan Yang, Shi-rong Liu, Fei Liu

Affiliation(s):  Institute of Automation, East China University of Science and Technology, Shanghai 200237, China, Institute of Automation, Hangzhou Dianzi University, Hangzhou 310018, China

Corresponding email(s):   liushirong@hdu.edu.cn

Key Words:  Multiple mobile robots, Cooperative transport, Formation control, Information sharing, Box transport


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Fan Yang, Shi-rong Liu, Fei Liu. Cooperative transport strategy for formation control of multiple mobile robots[J]. Journal of Zhejiang University Science C, 2010, 11(12): 931-938.

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Abstract: 
This paper addresses a box transport problem that requires the cooperation of multiple mobile robots. A geometric-based distributed formation control strategy is proposed for robots to push the box to the target, which might be static or dynamic. Velocity and hardware constraints are considered in the advanced planning of the trajectory. information sharing is included because the robots used as box pushers cannot acquire the required environmental information from their local sensors. Simulation results show the effectiveness of the proposed distributed cooperation strategy.

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article

Reference

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[8]Ota, J., Arai, T., 1999. Transfer control of a large object by a group of mobile robots. Robot. Auton. Syst., 28(4):271-280.

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[10]Pereira, G.A.S., Pimentel, B.S., Chaimowicz, L., Campos, M.F.M., 2002. Coordination of Multiple Mobile Robots in an Object Carrying Task Using Implicit Communication. Proc. IEEE Int. Conf. on Robotics and Automation, p.281-286.

[11]Ren, W., Sorensen, N., 2008. Distributed coordination architecture for multi-robot formation control. Robot. Auton. Syst., 56(4):324-333.

[12]Tanner, H.G., 2004. Flocking with Obstacle Avoidance in Switching Networks of Interconnected Vehicles. Proc. IEEE Int. Conf. on Robotics and Automation, p.3006-3011.

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