Functional distribution among multiple mobile robots in an autonomous and decentralized robot system
- 10 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 1921-1926 vol.3
- https://doi.org/10.1109/robot.1991.131907
Abstract
An autonomous and decentralized robot system, ACTRESS, is being developed as an intelligent robot system which can execute high level tasks. The concept of ACTRESS is introduced, and the communication framework between robotic agents that compose the robot system is proposed. Taking a task of pushing objects by multiple mobile robots in a certain working environment as a case study of ACTRESS, the strategy for organizing the robot system is discussed, and the required functions for the robot system are introduced. The optimal distribution of the functions is designed based on communication evaluation. An algorithm for static path planning and a strategy for dynamic path planning are proposed.<>Keywords
This publication has 3 references indexed in Scilit:
- Communication in the autonomous and decentralized robot system ACTRESSPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Consideration on the cooperation of multiple autonomous mobile robotsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
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