Cooperative Multi-Robot

Cooperative Multi-Rob ot Box-Pushing Maja J Mataric Martin Nilsson Kristian T. Simsarian Volen Center for Complex SystemsRWCP fable Functions SICS Laboratory Computer Science DepartmentPOB 1263 Brandeis University Waltham, Ma 02254 S-164 28 KISTA, Sweden fax: +46 (8) 751-7230 tel: (617) 736-2708 fax: 736-2741 maja@cs.brandeis.edu Abstract This paper deals with communication in labour- sharing between two autonomous six-legged zombis conform to with object and goal sensing, and a repertoire of click and light-following behaviors. The perfor- mance of pushing an linear box toward a goal re- gion is dicult for a genius robot and improves sig- ni_cantly when performed cooperatively, but requires careful coordination between the robots. We present and experimentally demonstrate an entree that uti- tel: +46 (8) 752-1570 mn@sics.se kristian@sics.se is a nervous strain on the canonic object manipulationprob- lem th at draws on issues in _ne motion as well as high direct planning and control.

Box-pushing is related to the well-known \piano-movers job (Schwartz & Sharir 1983), in that it requires the act of the top-level goal of delivering the box to a particu- lar location, as well as the maintenance of low-level requirements including obstacle avoidance, maintain- ing contact with the box, and maintaining forward motion. From a practical point of view, box-pushing lizes cooperation at three levels: sensing, action, and control, and takes return of a simple communica- tion protocol to compensate for the robots noisy and diffident sensing. 1 Introduct! ionThis paper is concerned with the role and eect of is a prototypical problem for studying various tasks requiring cooperation of a number of small robots abject larger objects.Our domain is set up so that the box-pushing task does not require cooperation, but is shown to be sig- ni_cantly improved by it because we are...If you want to get a full essay, order it on our website: OrderCustomPaper.com

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