Integrated task planning and control for mobile manipulators

2003 ◽  
Author(s):  
Jindong Tan ◽  
Ning Xi
Keyword(s):  
Mobile Manipulators ◽  
Task Planning ◽  
Planning And Control ◽  
And Control

Integrated Task Planning and Control for Mobile Manipulators

2003 ◽  
Vol 22 (5) ◽  
pp. 337-354 ◽  
Author(s):  
Jindong Tan ◽  
Ning Xi ◽  
Yuechao Wang
Keyword(s):  
Mobile Manipulators ◽  
Task Planning ◽  
Planning And Control ◽  
And Control

scholarly journals A dϕ-Strategy: Facilitating Dual-Formation Control of a Virtually Connected Team

2017 ◽  
Vol 2017 ◽  
pp. 1-17 ◽  
Author(s):  
Bibhya Sharma ◽  
Jito Vanualailai ◽  
Avinesh Prasad
Keyword(s):  
Autonomous Vehicles ◽  
Formation Control ◽  
Field Method ◽  
Mobile Manipulators ◽  
End Effector ◽  
Planning And Control ◽  
Potential Field Method ◽  
Control Scheme ◽  
And Control ◽  
First Time

This paper describes the design of new centralized acceleration-based controllers for the multitask problem of motion planning and control of a coordinated lead-carrier team fixed in a dual-formation within an obstacle-ridden environment. A dϕ-strategy, where d and ϕ are Euclidean measures with respect to the lead robot, is developed to ensure virtual connectivity of the carrier robots to the lead robot. This connectivity, built into the system itself, inherently ensures globally rigid formation between each lead-carrier pair of the team. Moreover, a combination of target configuration, dϕ-strategy, orientation consensus, and avoidance of end-effector of robots results in a second, locally rigid formation (not infinitesimally rigid). Therefore, for the first time, a dual-formation control problem of a lead-carrier team of mobile manipulators is considered. This and other kinodynamic constraints have been treated simultaneously via the overarching Lyapunov-based control scheme, essentially a potential field method favored in the field of robotics. The formulation of this new scheme, demonstrated effectively via computer simulations, is timely, given that the current proposed engineering solutions, allowing autonomous vehicles on public roads, include the development of special lanes imbued with special sensors and wireless technologies.

Optimal task planning and control of multi-robot coordinated workcells

1999 ◽  
Vol 32 (2) ◽  
pp. 671-676
Author(s):  
Edward Y.L. Gu ◽  
Naim A. Kheir
Keyword(s):  
Task Planning ◽  
Planning And Control ◽  
And Control ◽  
Multi Robot

Online task planning and control for fuel-constrained aerial robots in wind fields

2015 ◽  
Vol 35 (5) ◽  
pp. 438-453 ◽  
Author(s):  
Chanyeol Yoo ◽  
Robert Fitch ◽  
Salah Sukkarieh
Keyword(s):  
Task Planning ◽  
Wind Fields ◽  
Aerial Robots ◽  
Planning And Control ◽  
And Control

Task Planning and Control of Pipe Inspection Robots

2005 ◽  
Author(s):  
T. Fukuda ◽  
H. Hosokai ◽  
M. Otsuka
Keyword(s):  
Task Planning ◽  
Pipe Inspection ◽  
Planning And Control ◽  
Inspection Robots ◽  
And Control
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