Cooperating multiple behavior-based robots for object manipulation

A multiple vehicle robot system for cooperative object manipulation is described. This system consists of a host and several distributed behavior-based vehicle robot agents. A strategy on cooperatively organizing the behavior-based robots which only have limited ability in manipulation is discussed. An extended subsumption architecture, which has some layers for manipulation and cooperation, is built for each vehicle robot. A simulator and some simulation results are also shown.<<ETX>>

[1]  Randall Davis,et al.  Negotiation as a Metaphor for Distributed Problem Solving , 1988, Artif. Intell..

[2]  Masaru Uchiyama,et al.  A unified approach to load sharing, motion decomposing, and force sensing of Dual arm robots , 1991 .

[3]  John J. Craig,et al.  Hybrid position/force control of manipulators , 1981 .

[4]  Jing Wang,et al.  Distributed computing problems in cellular robotic systems , 1990, EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications.

[5]  Oussama Khatib,et al.  Real-Time Obstacle Avoidance for Manipulators and Mobile Robots , 1986 .

[6]  B. Beavis,et al.  Optimization and Stability Theory for Economic Analysis: DYNAMICS AND STABILITY , 1990 .

[7]  Maja J. Mataric,et al.  Minimizing complexity in controlling a mobile robot population , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[8]  Rodney A. Brooks,et al.  A Robust Layered Control Syste For A Mobile Robot , 2022 .

[9]  Lynne E. Parker.  Designing control laws for cooperative agent teams , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[10]  B. Dizioglu,et al.  Mechanics of form closure , 1984 .

[11]  Tim Smithers,et al.  Symbol grounding via a hybrid architecture in an autonomous assembly system , 1990, Robotics Auton. Syst..

[12]  E. Nakano,et al.  Cooperational Control of the Anthropomorphous Manipulator "MELARM" , 1974 .

[13]  S. Yuta,et al.  Consideration on cooperation of multiple autonomous mobile robots-introduction to modest cooperation , 1991, Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments.

[14]  Tamio Arai,et al.  Collision Avoidance Among Multiple Robots Using Virtual Impedance , 1989, Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications.

[15]  M. Buss,et al.  Communication system of cellular robot: CEBOT , 1989, 15th Annual Conference of IEEE Industrial Electronics Society.

[16]  Tsuneo Yoshikawa,et al.  Dynamics and Stability in Coordination of Multiple Robotic Mechanisms , 1989, Int. J. Robotics Res..

[17]  R. A. Brooks,et al.  Intelligence without Representation , 1991, Artif. Intell..

[18]  Hajime Asama,et al.  Design Of An Autonomous And Distributed Robot System: Actress , 1989, Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications.