Cooperative multi-robot box-pushing
- 19 November 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 3, 556-561
- https://doi.org/10.1109/iros.1995.525940
Abstract
This paper deals with the communication in task-sharing between two autonomous six-legged robots equipped with object and goal sensing, and a repertoire of contact and light-following behaviors. The performance of pushing an elongated box towards a goal region is difficult for a single robot and improves significantly when performed cooperatively, but requires careful coordination between the robots. We present and experimentally demonstrate an approach that utilizes cooperation at three levels: sensing, action, and control, and takes the advantage of a simple communication protocol to compensate for the robots' noisy and uncertain sensing.Keywords
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