Encontrados 4 documentos, a visualizar página 1 de 1
Competitive dynamics for behavior coordination in a joint transportation task
Bicho, Estela; Louro, Luis; Soares, Rui; Erlhagen, WolframWe 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 i...
Coordinated transportation of a large object by a team of three robots
Soares, Rui; Bicho, EstelaDynamical systems theory in this work is used as a theoretical language and tool to design a distributed control architecture for a team of three robots that must transport a large object and simultaneously avoid collisions with either static or dynamic obstacles. The robots have no prior knowledge of the environment. The dynamics of behavior is defined over a state space of behavior variables, heading directio...
Coordinated transportation of a large object by a team of two robots
Soares, Rui; Bicho, EstelaIn this paper dynamical systems theory is used as a theoretical language and tool to design a distributed control architecture for a team of two robots that must transport a large object and simultaneously avoid collisions with obstacles (either static or dynamic). This work extends the previous work with two robots (see [1] and [5]). However here we demonstrate that it’s possible to simplify the architecture p...
Using attractor dynamics to generate decentralized motion control of two mobile...
Soares, Rui; Bicho, EstelaDynamical systems theory is used here as a theoretical language and tool to design a distributed control architecture for a team of two mobile robots that must transport a long object and simultaneously avoid obstacles. In this approach the level of modeling is at the level of behaviors. A “dynamics” of behavior is defined over a state space of behavioral variables (heading direction and path velocity). The env...
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