Title :
Guiding distributed manipulation with mobile sensors
Author :
Rus, Daniela ; Kabir, Ahsan ; Kotay, Keith D. ; Soutter, Morgan
Author_Institution :
Dept. of Comput. Sci., Dartmouth Coll., Hanover, NH, USA
Abstract :
We attempt to organize furnitures with teams of mobile robots in dynamic, unstructured environments. We describe a distributed heterogeneous system of robots that cooperate to achieve this task. This system consists of two robot pushers and a mobile-sensor robot that guides and synchronizes the pushers. We present algorithms and experimental results for this system. We also discuss how this heterogeneous system of robots cooperates by decoupling and then fusing the navigation and manipulation sensory data
Keywords :
cooperative systems; data communication; distributed control; materials handling; mobile robots; navigation; path planning; sensor fusion; cooperative system; data decoupling; distributed heterogeneous system; distributed manipulation; mobile robots; mobile sensors; navigation; robot pushers; sensory data fusion; Computer science; Educational institutions; Infrared sensors; Mobile communication; Mobile robots; Modems; Robot kinematics; Robot sensing systems; Sonar detection; Sonar navigation;
Conference_Titel :
Multisensor Fusion and Integration for Intelligent Systems, 1996. IEEE/SICE/RSJ International Conference on
Conference_Location :
Washington, DC
Print_ISBN :
0-7803-3700-X
DOI :
10.1109/MFI.1996.572189
