Title :
Formation control of cooperative transportation of mother ship for SMC
Author :
Taniguchi, Yasuaki ; Tsuganezawa, Yoshiyuki ; Yamakita, Masaki
Author_Institution :
Tokyo Inst. of Technol., Japan
Abstract :
This paper discusses a formation control of a multiple mobile robot system (MMRS) called super Mechano colony (SMC). First, we describe the SMC system composed of a mother ship and many agents as a prototype of MMRS. Next, we propose a cooperative transportation method of the mother ship with multiple agents, and the properties of the proposed method is analyzed using an experimental system.
Keywords :
decentralised control; mobile robots; multi-agent systems; multi-robot systems; cooperative transportation; dead-reckoning; decentralized control; formation control; mobility; mother ship; multiple agent systems; multiple mobile robot system; super Mechano colony; Centralized control; Communication system control; Control systems; Marine transportation; Marine vehicles; Mobile robots; Moon; Planets; Prototypes; Sliding mode control;
Conference_Titel :
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN :
0-7803-7631-5
DOI :
10.1109/SICE.2002.1195202
