Navigation by cooperating mobile robots

Klaus-Juergen Schilling

doi:10.1117/12.571758

25 October 2004 Navigation by cooperating mobile robots

Klaus-Juergen Schilling

Proceedings Volume 5608, Intelligent Robots and Computer Vision XXII: Algorithms, Techniques, and Active Vision; (2004) https://doi.org/10.1117/12.571758
Event: Optics East, 2004, Philadelphia, Pennsylvania, United States

Abstract

Cooperation between several mobile robots enables to address more complex tasks or to provide more robust performance. Navigation and localisation forms the basis for the coordination and autonomous behaviours of teams of mobile robots. Therefore analyses of the kinematics and of the sensor field of view for the different vehicles are summarized in order to characterize robust formations during movements. In this approach optimized robot formations with respect to the given sensor configurations are maintained by the control system during the joint motion towards the target. The application of this method for guidance by a navigator and for cooperative manipulation tasks is discussed and tested with mobile robot hardware.

Citation Download Citation

Klaus-Juergen Schilling "Navigation by cooperating mobile robots", Proc. SPIE 5608, Intelligent Robots and Computer Vision XXII: Algorithms, Techniques, and Active Vision, (25 October 2004); https://doi.org/10.1117/12.571758

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