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Swarm Robotics for Object Transportation
- Source :
- 2018 UKACC 12th International Conference on Control (CONTROL).
- Publication Year :
- 2018
- Publisher :
- IEEE, 2018.
-
Abstract
- In this paper a system is proposed whereby a group of small and inexpensive LEGO robots cooperate autonomously to transport a relatively much larger object to a specific location. In achieving this objective, the robots were able to generate a formation, recognise and locate neighbouring robot positions, control their motion and coordinate as a team in order to move the object to a set target location. Cooperative transportation algorithms were implemented, tested and evaluated on a physical setup, including pushing, caging and grasping. Results demonstrate that any desired formation shape can be generated and maintained without distance or orientation constraints. Caging and grasping algorithms yielded an accurate delivery performance, exhibiting reliability across different scenarios.
- Subjects :
- 0209 industrial biotechnology
business.industry
Computer science
Orientation (computer vision)
Reliability (computer networking)
Swarm robotics
02 engineering and technology
021001 nanoscience & nanotechnology
Object (computer science)
Motion (physics)
Delivery Performance
020901 industrial engineering & automation
Robot
Computer vision
Artificial intelligence
0210 nano-technology
business
Set (psychology)
Subjects
Details
- Database :
- OpenAIRE
- Journal :
- 2018 UKACC 12th International Conference on Control (CONTROL)
- Accession number :
- edsair.doi...........9fdf7f39d667f4cf047aa3c59a0df7d4