Sweeping the floor: moving multiple objects with multiple disc-shaped robots

Author

Sudsang, Attawith

Author_Institution

Dept. of Comput. Eng., Chulalongkorn Univ., Bangkok, Thailand

Volume

3

fYear

2002

fDate

2002

Firstpage

2825

Abstract

This paper addresses the problem of transporting multiple objects in the plane with a team of disc-shaped robots. Using geometric properties of the objects, we present a method for computing positions of the robots that can kinematically constrain the objects to lie in a subset of the workspace. This computation is then used for deriving a motion plan of the robots for simultaneously pushing the objects to a given region. The approach is demonstrated in a simulation where a team of robots cooperatively sweep multiple objects that are scattered in a room to one of its sides.

Keywords

materials handling; mobile robots; multi-robot systems; path planning; robot kinematics; convex object; floor sweeping; hard jamming; kinematic constraint; motion plan; multiple disc-shaped robots; multiple object sweeping; multiple object transportation; nonconvex rigid object; object geometric properties; robot position computation; simultaneous object pushing; soft jamming; workspace subset; Computational modeling; H infinity control; Kinematics; Manipulator dynamics; Orbital robotics; Robots; Scattering; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on

Print_ISBN

0-7803-7398-7

Type

conf

DOI

10.1109/IRDS.2002.1041698

Filename

1041698