Cooperative transport of extended payloads

Bouloubasis, A.K.; McKee, J.T.

doi:10.1109/icar.2005.1507511

Cited by 7 publications

(5 citation statements)

References 9 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In [5] [14] a master-slave architecture for two robots transporting a long payload has been presented, but obstacle avoidance was not addressed. A leaderfollower architecture that relies on a planned trajectory of the object in transportation is introduced in [16].…”

Section: Introductionmentioning

confidence: 99%

Multi-constrained joint transportation tasks by teams of autonomous mobile robots using a dynamical systems approach

Machado

Malheiro

Monteiro

et al. 2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

View full text Add to dashboard Cite

We present a distributed leader-helper architecture for teams of two autonomous mobile robots that jointly transport large payloads while avoiding collisions with obstacles (either static or dynamic). The leader navigates to the goal destination and the helper is responsible for maintaining an appropriate distance (which is a function of the object's length) to the leader. Both robots share the responsibility of ensuring that the transported object does not collide with obstructions. No path needs to be given a priori to the robots nor to the payload. The team is able to perform its transportation task in unknown environments that can have corridors, corners and may change the layout online. The payload can be of different dimensions. The team is able to cope with abrupt/strong perturbations that challenge the team behavior during the execution of the task. These characteristics make this approach suitable to be deployed in warehouses or office-like environments. The motion of each robot is controlled by a time series asymptotically stable states, which is formalized using the attractor dynamics approach to behavior based robotics. The advantages are: (i) the overt behavior is smooth and stable; (ii) because the behavior is generated as a time sequence of attractor states, for the control variables, it contributes to the overall asymptotically stability of the system that makes it robust against perturbations. We present results of experiments in simulated environments and with real robots in real environments.

show abstract

Section: Introductionmentioning

confidence: 99%

Multi-constrained joint transportation tasks by teams of autonomous mobile robots using a dynamical systems approach

Machado

Malheiro

Monteiro

et al. 2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

View full text Add to dashboard Cite

show abstract

“…It has been demonstrated (Bouloubasis and McKee, 2005) that cooperative transportation of extended payloads can be performed by two rovers using specialized manipulators. The delicate manipulators, however, can offer only limited lifting capability.…”

Section: System Configurationsmentioning

confidence: 99%

“…Cooperative transportation of raw materials and large structures (Bouloubasis and McKee, 2005;IEEE Distributed Systems Online, 2001).…”

Section: Introductionmentioning

confidence: 99%

Novel concepts for a planetary surface exploration rover

Bouloubasis

McKee

Tolson

2007

Industrial Robot: An International Journal

View full text Add to dashboard Cite

If you would like to write for this, or any other Emerald publication, then please use our Emerald for Authors service information about how to choose which publication to write for and submission guidelines are available for all. Please visit www.emeraldinsight.com/authors for more information. About Emerald www.emeraldinsight.comEmerald is a global publisher linking research and practice to the benefit of society. The company manages a portfolio of more than 290 journals and over 2,350 books and book series volumes, as well as providing an extensive range of online products and additional customer resources and services.Emerald is both COUNTER 4 and TRANSFER compliant. The organization is a partner of the Committee on Publication Ethics (COPE) and also works with Portico and the LOCKSS initiative for digital archive preservation. AbstractPurpose -This paper aims to address some of the needs of present and upcoming rover designs, and introduces novel concepts incorporated in a planetary surface exploration rover design that is currently under development. Design/methodology/approach -The Multitasking Rover (MTR) is a highly re-configurable system that aims to demonstrate functionality that will cover many of the current and future needs such as rough-terrain mobility, modularity and upgradeability. lt comprises a surface mobility platform which is highly re-configurable, which offers centre of mass re-allocation and rough terrain stability, and also a set of science/tool packs -individual subsystems encapsulated in packs which the rover picks up, transports and deploys. Findings -Early testing of the suspension system suggests exceptional performance characteristics. Originality/value -Principles employed in the design of the MTR can be used in future rover systems to reduce associated mission costs and at the same time provide multiples the functionality.

show abstract

“…The following sub-section explains the concepts of macroscopic and microscopic commands, explicit and implicit communication, and roles and targets. The first is familiar from swarm robotics (Varghese & McKee, 2008), the second from cooperative robotics (Bouloubasis & McKee, 2005;Lam et al, 2003) and the third are definitions that we are introducing in order to articulate the model.…”

Section: The Mrmt Modelmentioning

confidence: 99%