DocumentCode
2940080
Title
Multi-Robot Terrain Servoing with Proximity Sensors
Author
Karasalo, Maja ; Johansson, Linda-Maria ; Hu, Xiaoming ; Johansson, Karl Henrik
Author_Institution
Optimization and Systems Theory Royal Institute of Technology SE-100 44 Stockholm, Sweden karasalo@math.kth.se
fYear
2005
fDate
18-22 April 2005
Firstpage
2791
Lastpage
2796
Abstract
The problem of coordinating a team of robots with heterogeneous sensing capabilities is studied in this paper. A control structure is proposed that combines terrain servoing for the leading robot with on-line formation planning and path following for the followers, while enabling obstacle avoidance for all the robots.
Keywords
multi-agent; semi-local frame; servoing; Cleaning; Control systems; Motion control; Motion planning; Navigation; Path planning; Robot kinematics; Robot sensing systems; Sensor systems; Surveillance; multi-agent; semi-local frame; servoing;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN
0-7803-8914-X
Type
conf
DOI
10.1109/ROBOT.2005.1570536
Filename
1570536
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