NDLI: Transportation of long objects in unknown cluttered environments by a team of robots: A dynamical systems approach

Content Provider	IEEE Xplore Digital Library
Author	Machado, Toni Malheiro, Tiago Monteiro, Sergio Bicho, Estela Erlhagen, Wolfram
Copyright Year	2013
Description	Author affiliation: Department of Industrial Electronics, University of Minho, 4800-058 Guimarães, Portugal (Machado, Toni; Malheiro, Tiago; Monteiro, Sergio; Bicho, Estela) \|\| Department of Mathematics and Applications, University of Minho, 4800-058 Guimarães, Portugal (Erlhagen, Wolfram)
Abstract	We present a distributed architecture for teams of two autonomous mobile robots that act in coordination in a joint transportation task of long objects. The team is able to perform its transportation task in unknown environments while avoiding static or moving obstacles. The working environment can be cluttered and with narrow passages such as corridors, corners and doors. These characteristics make our approach suitable to be deployed in warehouses or office-like environments. The control architecture of each robot is formalized as a non-linear dynamical system, where by design attractor states dominate. The overt behavior is smooth and stable, because it is generated as a time sequence of attractor states, for the control variables, which contributes to the overall asymptotically stability of the system that makes it robust against perturbations. We present results with real robots in a real indoor cluttered environment.
Starting Page	1
Ending Page	6
File Size	2827575
Page Count	6
File Format	PDF
ISBN	9781467351942
ISSN	21635145
e-ISBN	9781467351935
DOI	10.1109/ISIE.2013.6563794
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-05-28
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Payloads Robot kinematics Robot sensing systems Lead Collision avoidance Mobile robots dynamical system multi-robot system joint transportation autonomous mobile robots
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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