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Conference Paper: Transportation of a single object by two decentralized-controlled nonholonomic mobile robots

TitleTransportation of a single object by two decentralized-controlled nonholonomic mobile robots
Authors
Kosuge, KazuhiroOosumi, TomohiroSatou, ManabuChiba, KunihikoTakeo, Koji
Issue Date1998
Citation
Proceedings - IEEE International Conference on Robotics and Automation, 1998, v. 4, p. 2989-2994 How to Cite?
DOI: http://dx.doi.org/10.1109/ROBOT.1998.680884
AbstractWe propose a decentralized control algorithm for transporting a single object by two nonholonomic mobile robots driven by two wheels. We extend the leader-follower type control algorithm, proposed by Kosuge and Oosumi (1996) for holonomic robots, to mobile robots by introducing the dual caster action. The extended control algorithm is applied to two experimental tracked mobile robots, and the experimental results illustrate the validity of the control algorithm.
Persistent Identifierhttp://hdl.handle.net/10722/302684
ISSN
1050-4729
2023 SCImago Journal Rankings: 1.620

 

DC FieldValueLanguage
dc.contributor.authorKosuge, Kazuhiro-
dc.contributor.authorOosumi, Tomohiro-
dc.contributor.authorSatou, Manabu-
dc.contributor.authorChiba, Kunihiko-
dc.contributor.authorTakeo, Koji-
dc.date.accessioned2021-09-07T08:42:23Z-
dc.date.available2021-09-07T08:42:23Z-
dc.date.issued1998-
dc.identifier.citationProceedings - IEEE International Conference on Robotics and Automation, 1998, v. 4, p. 2989-2994-
dc.identifier.issn1050-4729-
dc.identifier.urihttp://hdl.handle.net/10722/302684-
dc.description.abstractWe propose a decentralized control algorithm for transporting a single object by two nonholonomic mobile robots driven by two wheels. We extend the leader-follower type control algorithm, proposed by Kosuge and Oosumi (1996) for holonomic robots, to mobile robots by introducing the dual caster action. The extended control algorithm is applied to two experimental tracked mobile robots, and the experimental results illustrate the validity of the control algorithm.-
dc.languageeng-
dc.relation.ispartofProceedings - IEEE International Conference on Robotics and Automation-
dc.titleTransportation of a single object by two decentralized-controlled nonholonomic mobile robots-
dc.typeConference_Paper-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1109/ROBOT.1998.680884-
dc.identifier.scopuseid_2-s2.0-0031620570-
dc.identifier.volume4-
dc.identifier.spage2989-
dc.identifier.epage2994-

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