ICRA 2011 Paper Abstract


Paper TuA209.1

Baca, Jose (Universidad Politecnica de Madrid), Rossi, Claudio (Universidad Politecnica de Madrid), Ferre, Manuel (Universidad Politecnica de Madrid), Aracil, Rafael (Universidad Politecnica de Madrid)

Cooperative Task Execution between Modular Robots Based on Tight-Loose Cooperation Strategies

Scheduled for presentation during the Regular Sessions "Cellular and Modular Robots II" (TuA209), Tuesday, May 10, 2011, 10:05−10:20, Room 5D

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 30, 2020

Keywords Cellular and Modular Robots


The complexity in the execution of cooperative tasks is high due to the fact that a robot team requires movement coordination at the beginning of the mission and continues coordination during the execution of the task. A variety of techniques have been proposed to give a solution to this problem assuming standard mobile robots. This work focuses on presenting the execution of a cooperative task by a multirobot team made of modular robot configurations. The complexity of the task execution increases due to the fact that each robot is composed of modules which have to be coordinated in a proper way to successfully work. A combined tight and loose cooperation strategy is presented and a boxpushing example is used as a cooperative task to show the performance of this type of system.



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