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AROBOTS
2004

A Paradigm for Dynamic Coordination of Multiple Robots

9 years 11 months ago
A Paradigm for Dynamic Coordination of Multiple Robots
In this paper, we present a paradigm for coordinating multiple robots in the execution of cooperative tasks. The basic idea in the paper is to assign to each robot in the team, a role that determines its actions during the cooperation. The robots dynamically assume and exchange roles in a synchronized manner in order to perform the task successfully, adapting to unexpected events in the environment. We model this mechanism using a hybrid systems framework and apply it in different cooperative tasks: cooperative manipulation and cooperative search and transportation. Simulations and real experiments demonstrating the effectiveness of the proposed paradigm are presented.
Luiz Chaimowicz, Vijay Kumar, Mario Fernando Monte
Added 16 Dec 2010
Updated 16 Dec 2010
Type Journal
Year 2004
Where AROBOTS
Authors Luiz Chaimowicz, Vijay Kumar, Mario Fernando Montenegro Campos
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