Competitive dynamics for behavior coordination in a joint transportation task

• Autor(es): Bicho, Estela ; Louro, Luis ; Soares, Rui ; Erlhagen, Wolfram
• Data: 2008
• Identificador Persistente: http://hdl.handle.net/10400.22/4029
• Origem: Repositório Científico do Instituto Politécnico do Porto
• Assunto(s): Motion coordination; Mobile robots; Payload/object transportation; Collision avoidance; Competitive dynamics; Attractor dynamics
• Tipo de Documento: Documento de conferência
• Idioma: Inglês

Descrição

We address the problem of coordinating two non-holonomic mobile robots that move in formation while transporting a long payload. A competitive dynamics is introduced that gradually controls the activation and deactivation of individual behaviors. This process introduces (asymmetrical) hysteresis during behavioral switching. As a result behavioral oscillations, due to noisy information, are eliminated. Results in indoor environments show that if parameter values are chosen within reasonable ranges then, in spite of noise in the robots communi- cation and sensors, the overall robotic system works quite well even in cluttered environments. The robots overt behavior is stable and smooth.