DocumentCode
2055348
Title
The null-space-based behavioral control for soccer-playing mobile robots
Author
Antonelli, Gianluca ; Arrichiello, Filippo ; Chiaverini, Stefano
Author_Institution
Dipt. di Automazione, Elettromagnetismo, Ingegneria dell´´Informazione e Matematica Ind., Univ. degli Studi di Cassino
fYear
2005
fDate
24-28 July 2005
Firstpage
1257
Lastpage
1262
Abstract
In this paper a behavior-based approach for the control of soccer-playing mobile robots is presented. The so-called null-space-based (NSB) behavioral control differs from the other existing methods in the behavioral coordination, i.e., in the way the outputs of the single elementary behaviors are composed to yield a complex behavior. The developed approach is demonstrated in an experimental case study with a differential-drive mobile robot kicking a ball in a goal
Keywords
cooperative systems; intelligent robots; mobile robots; multi-robot systems; behavioral coordination; differential-drive mobile robot; null-space-based behavioral control; single elementary behaviors; soccer-playing mobile robots; Control systems; Electrical equipment industry; Fault detection; Manipulator dynamics; Mobile robots; Motion control; Multirobot systems; Parallel robots; Robot kinematics; Vehicle dynamics;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Intelligent Mechatronics. Proceedings, 2005 IEEE/ASME International Conference on
Conference_Location
Monterey, CA
Print_ISBN
0-7803-9047-4
Type
conf
DOI
10.1109/AIM.2005.1511183
Filename
1511183
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