Guiding distributed manipulation with mobile sensors

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 push...

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Bibliographic Details
Main Authors: Rus, D., Kabir, A., Kotay, K.D., Soutter, M.
Format: Conference Proceeding
Language:English
Subjects:
Computer science
Educational institutions
Infrared sensors
Mobile communication
Mobile robots
Modems
Robot kinematics
Robot sensing systems
Sonar detection
Sonar navigation
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Description
Summary: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.
DOI:10.1109/MFI.1996.572189