INVESTIGADORES
MAS Ignacio Agustin
congresos y reuniones científicas
Título:
Cluster Space Specification and Control of a 3-Robot Mobile System
Autor/es:
IGNACIO MAS; OGNJEN PETROVIC; CHRISTOPHER KITTS
Lugar:
Pasadena
Reunión:
Congreso; IEEE International Conference on Robotics and Automation; 2008
Institución organizadora:
IEEE
Resumen:
The cluster space control technique promotessimplified specification and monitoring of the motion of mobilemulti-robot systems of limited size. Previous work hasestablished the conceptual foundation of this approach and hasexperimentally verified and validated its use for two diverse 2-robot systems and with varying implementations ranging fromautomated trajectory control to human-in-the-loop piloting. Inthis paper, we present the cluster space control of a 3-robotsystem. In doing so, we develop the fundamental kinematicrelationships, illustrate the closed-loop control framework,describe the simulation and hardware testbed environmentsused for verification, and present initial experimental resultsof the successfully implemented system.
