Title :
Cooperative transport in unknown environment - application of real-time task assignment
Author :
Miyata, Natsuki ; Ota, Jun ; Aiyama, Yasumichi ; Asama, Hajime ; Arai, Tamio
Author_Institution :
Dept. of Precision Machinery Eng., Tokyo Univ., Japan
Abstract :
This paper deals with a task-assignment architecture for cooperative transport by multiple mobile robots in unknown environment. The planner should satisfy three features: to deal with the variety of tasks in time and space; do deal with a large amount of tasks; and to decide behavior in real-time. The authors (1999) have proposed the following approach: 1) based on sensor information, tasks will be dynamically generated using task templates; 2) generation of task is tuned in quality by feeding back executed result and in the number by action suppression; 3) main part of the architecture consists of two real-time planner: priority-based task-assignment planner solved by using a linear programming method and motion planners based on short-time estimation. In this paper, we implement our task-assignment architecture on a real robot system and verify the effectiveness of the proposed method by cooperative transport experiment in unknown environment
Keywords :
cooperative systems; linear programming; mobile robots; multi-robot systems; path planning; real-time systems; cooperative transport; linear programming; mobile robots; motion planning; multiple robot systems; real-time systems; task assignment; Force control; Linear programming; Machinery; Materials handling; Mobile robots; Motion estimation; Optimization methods; Orbital robotics; Real time systems; Robot kinematics;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.845152