Abstract
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 shown also.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
Reference
T. Arai, H. Ogata, T. Suzuki, Collision Avoidance among Multiple Robots Using Virtual Impedance, Proc. 1989 IEEE Int. Workshop on Intelligent Robots and Systems (IROS′89), 1989, pp.478–485.
H. Asama, A. Matsumoto, T. Ishida, Design of an Autonomous and Distributed Robot System, Proc. 1989 IEEE Int. Workshop on Intelligent Robots and Systems (IROS’89), 1989, pp.283–290.
R. A. Brooks, A Robust Layered Control System For A Mobile Robot, IEEE J. Robotics and Automation, Vol.RA-2, No.l, 1986, pp.14–23.
R. A. Brooks, Intelligence Without Representation, Artificial Intelligence, 47, 1991, pp. 139–159.
T. Fukuda, M. Buss and Y. Kawauchi, Communication System of Cellular Robot: CEBOT, Proc. IEEE Industrial Electronics Conf., 1989, pp.634.
O. Khatib, Real-Time Obstacle Avoidance for Manipulators and Mobile Robots, Int. J. Robotics Research, Vol 5–1, 1986, pp.90–98.
K. Lakshminarayana, Mechanics of Form Closure, ASME Paper, 1978, 78-DET-32.
P. Maes, R. A. Brooks, Leaning to Coordinate Behaviors, Proc. of AAAI, 1990, pp.796–802.
C. Malcolm, T. Smithers, Symbol grounding via a hybrid architecture in an autonomous assembly system, Designing Autonomous Agents, MIT Press, 1990, pp. 123–144.
M. Mataric, Minimizing Complexity in Controlling a Mobile Robot Population, Proc. 1992 IEEE Int. Conf. on Robotics and Automation, 1992, pp.830–835.
M. Minsky, The Society of the Mind, Simon and Schuster, New York, 1986.
Y. Nakamura, K. Nagai and T. Yoshikawa, Dynamics and Stability in Coordination of Multiple Robotic Mechanisms, Int, J.Robotics Research, Vol 8-2, 1989, pp.44–61.
E. Nakano, S. Ozaki, T. Ishida and I. Kato, Cooperational Control of the Anthropomorphous Manipulator ‘MELARM’, Proc. of 4th Int. Symp. on Industrial Robots, 1974, pp.251–260.
G. Ogasawara, T. Omata and T. Sato, Multiple Movers Using Decision-theoretic Control, Japan/USA Symp. on Flexible Automation, Vol 1, 1992, pp.623–630.
L. E. Parker, Designing Control Laws for Cooperative Agent Teams, Proc. of ICRA, Proc. 1993 IEEE Int. Conf. on Robotics and Automation, 1993, pp.582–587.
M. H. Raibert and J. J. Craig, Hybrid Position/Force Control of Manipulators, Trans. ASME J. Dynamic Systems, Measurement, and Control, Vol 102, 1981, pp.126–133.
M. Uchiyama, A Unified Approach to Load Sharing Motion Decomposing and Force Sensing of Dual Arm Robots, Robotics Research: The Fifth Int. Symp. (MIT Press), 1990, pp.225–232.
J. Wang, G. Beni, Distributed Computing Problems in Cellular Robotic Systems, Proc. 1990 IEEE Int. Workshop on Intelligent Robots and Systems (IROS′90), 1990, pp.57–61.
S. Yuta and S. Premvit, Consideration on Cooperation of Multiple Autonomous Mobile Robot — Introduction to Modest Cooperation —, Proc. 1991 IEEE Int. Conf. on Advanced Robotics (ICAR′91), 1991, pp.545–550.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 1994 Springer-Verlag Tokyo
About this paper
Cite this paper
Wang, ZD., Nakano, E., Matsukawa, T. (1994). Cooperating Multiple Behavior-Based Robots for Object Manipulation. In: Asama, H., Fukuda, T., Arai, T., Endo, I. (eds) Distributed Autonomous Robotic Systems. Springer, Tokyo. https://doi.org/10.1007/978-4-431-68275-2_33
Download citation
DOI: https://doi.org/10.1007/978-4-431-68275-2_33
Publisher Name: Springer, Tokyo
Print ISBN: 978-4-431-68277-6
Online ISBN: 978-4-431-68275-2
eBook Packages: Springer Book Archive