Coordinated motion planning of multiple mobile robots in formation

2010 ◽  
Author(s):  
Shuang Liu ◽  
Dong Sun ◽  
Changan Zhu
Keyword(s):  
Motion Planning ◽  
Mobile Robots ◽  
Coordinated Motion ◽  
Multiple Mobile Robots

Motion Planning for Cooperative Transportation of a Large Object by Multiple Mobile Robots.

2002 ◽  
Vol 68 (665) ◽  
pp. 165-172
Author(s):  
Atsushi YAMASHITA ◽  
Masaki FUKUCHI ◽  
Jun OTA ◽  
Tamio ARAI ◽  
Hajime ASAMA
Keyword(s):  
Motion Planning ◽  
Mobile Robots ◽  
Large Object ◽  
Multiple Mobile Robots ◽  
Cooperative Transportation

Cooperative Towing With Multiple Robots

2008 ◽  
Author(s):  
Jonathan Fink ◽  
Peng Cheng ◽  
Vijay Kumar
Keyword(s):  
Mobile Robots ◽  
Dry Friction ◽  
Equations Of Motion ◽  
Static Model ◽  
Multiple Robots ◽  
Coordinated Motion ◽  
Multiple Mobile Robots ◽  
Basic Concepts ◽  
Simulation Results

In this paper, we address the cooperative towing of payloads by multiple mobile robots in the plane. Robots are attached via cables to a planar object or a pallet carrying a payload. Coordinated motion by the robots allow the payload to be manipulated through a planar, warehouse-like environment. We formulate a quasi-static model for manipulation and derive equations of motion that yield the motion of the payload for a prescribed motion of the robots in the presence of dry friction and tension constraints. We present experimental and simulation results that demonstrate the basic concepts.

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