Mars rover pair cooperatively transporting a long payload

Trebi-Ollennu, A.; Nayar, Hari; Aghazarian, Hrand; Ganino, Anthony; Pirjanian, Paolo; Kennedy, Brian; Huntsberger, Terrance L.; Schenker, Paul S.

doi:10.1109/robot.2002.1013709

Cited by 34 publications

(25 citation statements)

References 5 publications

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“…Luh and Zheng in [19] have proposed a leader-follower approach in which they derived the relation between the joint positions and velocities of the leader and the follower as a set of holonomic equality constraints. Other leader-follower approaches have been presented in [25,27]. Sugar and Kumar in [25] have discussed the motion control method for a small team of mobile manipulators that cooperatively transport a large, flexible object in a two dimensional environment with obstacles.…”

Section: Related Workmentioning

confidence: 99%

“…Sugar and Kumar in [25] have discussed the motion control method for a small team of mobile manipulators that cooperatively transport a large, flexible object in a two dimensional environment with obstacles. In [27] Trebi-Ollennu et al have proposed an decentralized algorithm for two Mars rovers carrying a long object over an uneven, natural terrain. Abou-Samah et al in [2] have considered the leader-follower approach for cooperative payload transport based on the individual mobile manipulator control schemes.…”

Section: Related Workmentioning

confidence: 99%

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Real-Time Trajectory Generation Methods for Cooperating Mobile Manipulators Subject to State and Control Constraints

Pająk

2018

J Intell Robot Syst

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This paper deals with the real-time trajectory generation problem for two cooperating mobile robots moving the common rigid object. The holonomic constraints resulting from a closed kinematic chain and the dynamics of such a system are considered. Two methods of generation sub-optimal trajectories allowing for mechanical and control limitations and collision avoidance conditions are proposed. The first solution is based on a leader-follower approach, in the second one the robotic system is treated as a whole mechanism. In both cases, the trajectories are generated in order to avoid singularities and they are scaled to satisfy control constraints. Advantages and disadvantages of both presented approaches are discussed. A computer example involving two mobile manipulators consisting of nonholonomic platform (2,0) class and planar 3-DOF holonomic manipulator is presented.

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Section: Related Workmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

Real-Time Trajectory Generation Methods for Cooperating Mobile Manipulators Subject to State and Control Constraints

Pająk

2018

J Intell Robot Syst

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“…These systems are not intended only for exploration. Numerous scenarios are being exploited covering different aspects of operation such as re-configurability [Iagnemma, 2000], cooperation [Trebi-Ollennu, 2002] [Bouloubasis, 2003] [Mumm, 2004], transportation [Bouloubasis, 2005] and sample recovery and return [Huntsberger, 1999]. Enhanced mobility is a characteristic required for all of these scenarios since the rovers need to traverse unstructured natural terrain.…”

Section: Requirements and System Operational Descriptionmentioning

confidence: 99%

A Multitasking Surface Exploration Rover System

Bouloubasis¹,

McKee²

2007

Bioinspiration and Robotics Walking and Climbing Robots

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“…To resolve these conflicts, we combined the outputs of each of the PD controllers into a single function using a weighting scheme to compute the desired speed and heading corrections for each rover. Further details can be found in [53].…”

Section: Coordinated Object Transportationmentioning

confidence: 99%

“…This work was supported under Contract by the National Aeronautics and Space Administration and carried out by the Jet Propulsion Laboratory, California Institute of Technology. This paper was presented in part at the IEEE International Conference on Robotics and Automation [53], [54]. This paper was recommended by Guest Editor H. Zhang.…”

Section: Introductionmentioning

confidence: 99%

CAMPOUT: a control architecture for tightly coupled coordination of multirobot systems for planetary surface exploration

Huntsberger

Pirjanian²,

Trebi-Ollennu

et al. 2003

IEEE Trans. Syst., Man, Cybern. A

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102

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Abstract-Exploration of high risk terrain areas such as cliff faces and site construction operations by autonomous robotic systems on Mars requires a control architecture that is able to autonomously adapt to uncertainties in knowledge of the environment. We report on the development of a software/hardware framework for cooperating multiple robots performing such tightly coordinated tasks. This work builds on our earlier research into autonomous planetary rovers and robot arms. Here, we seek to closely coordinate the mobility and manipulation of multiple robots to perform examples of a cliff traverse for science data acquisition, and site construction operations including grasping, hoisting, and transport of extended objects such as large array sensors over natural, unpredictable terrain. In support of this work we have developed an enabling distributed control architecture called control architecture for multirobot planetary outposts (CAMPOUT) wherein integrated multirobot mobility and control mechanisms are derived as group compositions and coordination of more basic behaviors under a task-level multiagent planner. CAMPOUT includes the necessary group behaviors and communication mechanisms for coordinated/cooperative control of heterogeneous robotic platforms. In this paper, we describe CAMPOUT, and its application to ongoing physical experiments with multirobot systems at the Jet Propulsion Laboratory in Pasadena, CA, for exploration of cliff faces and deployment of extended payloads.

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Mars rover pair cooperatively transporting a long payload

Cited by 34 publications

References 5 publications

Real-Time Trajectory Generation Methods for Cooperating Mobile Manipulators Subject to State and Control Constraints

Real-Time Trajectory Generation Methods for Cooperating Mobile Manipulators Subject to State and Control Constraints

A Multitasking Surface Exploration Rover System

CAMPOUT: a control architecture for tightly coupled coordination of multirobot systems for planetary surface exploration

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