Paper Info
Title
Transportation of long objects in unknown cluttered environments by a team of robots: A dynamical systems approach
Abstract
We present a distributed architecture for teams of two autonomous mobile robots that act in coordination in a joint transportation task of long objects. The team is able to perform its transportation task in unknown environments while avoiding static or moving obstacles. The working environment can be cluttered and with narrow passages such as corridors, corners and doors. These characteristics make our approach suitable to be deployed in warehouses or office-like environments. The control architecture of each robot is formalized as a non-linear dynamical system, where by design attractor states dominate. The overt behavior is smooth and stable, because it is generated as a time sequence of attractor states, for the control variables, which contributes to the overall asymptotically stability of the system that makes it robust against perturbations. We present results with real robots in a real indoor cluttered environment.
Year
DOI
Venue
2013
10.1109/ISIE.2013.6563794
Industrial Electronics
Keywords
DocType
ISSN
autonomous mobile robots,dynamical system,joint transportation,multi-robot system,mobile robots,payloads,robot kinematics,lead
Conference
2163-5137
ISBN
Citations 
PageRank 
978-1-4673-5194-2
3
0.38
References 
Authors
6
5
Name
Order
Citations
PageRank
Toni Machado1111.40
tiago malheiro252.52
sergio monteiro363.21
Estela Bicho4202.01
Wolfram Erlhagen510822.63