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ICRA
2006
IEEE

Transport of an Object by six pre-attached Robots interacting via Physical Links

14 years 5 months ago
Transport of an Object by six pre-attached Robots interacting via Physical Links
— This paper addresses the cooperative transport of a heavy object by a group of mobile robots. We present a system in which group members lacking knowledge about the position of the transport target exploit physical interactions with other members of the group that have such knowledge. This is the first such system to achieve a performance superior to that of a passive caster. The system is fully decentralized and the information flow between the robots is limited to physical interactions. The robots have no knowledge about their relative positions. A comprehensive experimental study with up to six physical robots confirms the effectiveness, reliability, and robustness of the system. Finally, the system is examined in rough terrain conditions.
Roderich Groß, Francesco Mondada, Marco Dori
Added 11 Jun 2010
Updated 11 Jun 2010
Type Conference
Year 2006
Where ICRA
Authors Roderich Groß, Francesco Mondada, Marco Dorigo
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