Name
Title | ||
|---|---|---|
Cooperative Transport in Unknown Environment - Application of Real-Time Task Assignment |
Abstract | ||
|---|---|---|
This paper deals with a task-assignment architecture for cooperative transport by multiple mobile robots in unknown environment. The planner should satisfy three features: to deal with the variety of tasks in time and space; do deal with a large amount of tasks; and to decide behavior in real-time. The authors (1999) have proposed the following approach: 1) based on sensor information, tasks will be dynamically generated using task templates; 2) generation of task is tuned in quality by feeding back executed result and in the number by action suppression; 3) main part of the architecture consists of two real-time planner: priority-based task-assignment planner solved by using a linear programming method and motion planners based on short-time estimation. In this paper, we implement our task-assignment architecture on a real robot system and verify the effectiveness of the proposed method by cooperative transport experiment in unknown environment. |
Year | DOI | Venue |
|---|---|---|
2000 | 10.1109/ROBOT.2000.845152 | ICRA |
Keywords | Field | DocType |
path planning,real time,linear program,machinery,mobile robots,motion planning,real time systems,linear programming,satisfiability,motion estimation,robot kinematics | Motion planning,Robotic systems,Robot control,Architecture,Computer science,Planner,Real-time computing,Control engineering,Linear programming,Mobile robot | Conference |
Volume | Issue | ISSN |
4 | 1 | 1050-4729 |
Citations | PageRank | References |
1 | 0.41 | 7 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Natsuki Miyata | 1 | 205 | 23.33 |
| Jun Ota | 2 | 527 | 109.77 |
| Yasumichi Aiyama | 3 | 53 | 13.30 |
| Hajime Asama | 4 | 826 | 237.10 |
| Tamio Arai | 5 | 1087 | 189.91 |