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Conference Paper: Decentralized control of mobile robots in coordination

TitleDecentralized control of mobile robots in coordination
Authors
Hirata, YasuhisaKosuge, KazuhiroAsama, HajimeKaetsu, HayatoKawabata, Kuniaki
Issue Date1999
Citation
IEEE Conference on Control Applications - Proceedings, 1999, v. 2, p. 1129-1134 How to Cite?
DOI: http://dx.doi.org/10.1109/CCA.1999.801131
AbstractWe proposed a decentralized control algorithm of multiple robots handling a single object in coordination. The motion command of the object is given to one of the robots, referred to as a leader, and the other robots referred to as followers estimate the motion of the leader by themselves through the motion of the object and handle the object based on the estimated reference. In this paper, the proposed control algorithm is experimentally applied to three omnidirectional mobile robots with three degrees of freedom of motion, and the results illustrate the validity of the proposed control algorithm.
Persistent Identifierhttp://hdl.handle.net/10722/302694

 

DC FieldValueLanguage
dc.contributor.authorHirata, Yasuhisa-
dc.contributor.authorKosuge, Kazuhiro-
dc.contributor.authorAsama, Hajime-
dc.contributor.authorKaetsu, Hayato-
dc.contributor.authorKawabata, Kuniaki-
dc.date.accessioned2021-09-07T08:42:24Z-
dc.date.available2021-09-07T08:42:24Z-
dc.date.issued1999-
dc.identifier.citationIEEE Conference on Control Applications - Proceedings, 1999, v. 2, p. 1129-1134-
dc.identifier.urihttp://hdl.handle.net/10722/302694-
dc.description.abstractWe proposed a decentralized control algorithm of multiple robots handling a single object in coordination. The motion command of the object is given to one of the robots, referred to as a leader, and the other robots referred to as followers estimate the motion of the leader by themselves through the motion of the object and handle the object based on the estimated reference. In this paper, the proposed control algorithm is experimentally applied to three omnidirectional mobile robots with three degrees of freedom of motion, and the results illustrate the validity of the proposed control algorithm.-
dc.languageeng-
dc.relation.ispartofIEEE Conference on Control Applications - Proceedings-
dc.titleDecentralized control of mobile robots in coordination-
dc.typeConference_Paper-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1109/CCA.1999.801131-
dc.identifier.scopuseid_2-s2.0-0033335777-
dc.identifier.volume2-
dc.identifier.spage1129-
dc.identifier.epage1134-

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