Visually Guided Coordination for Distributed Precision Assembly

We document our initial e orts to instantiate visuallyguided cooperative behaviors between robotic agents in the minifactory environment. Minifactory incorporates high-precision 2-DOF robotic agents to perform micron-level precision 4-DOF assembly tasks. Here we utilize two minifactory agents to perform visual servoing. We present a detailed description of the control and communication systems used to coordinate the agents. To provide a suitable communications infrastructure, we describe the development of a new interagent communication system which uses low-latency protocols carried by a commercial 100 Mb Ethernet network. Finally, we conclude by presenting experimental results from our rst coordinated multi-agent task, the visually guided positioning of a small medical device.

• Type: Conference
• Year: 2000
• Where: ICRA
• Authors: Michael L. Chen, Shinji Kume, Alfred A. Rizzi, Ralph L. Hollis
• Keywords: 2-DOF Robotic Agents, Communication System, ICRA 2000, Robotic Agents, Robotics