Cooperative Localization and Control for Multi-Robot Manipulation  PDF

John Spletzer and Camillo J. Taylor

We describe a framework for coordinating multiple robots in cooperative manipulation tasks in which vision is used for establishing relative position and orientation and maintaining formation.  The two key contributions are a cooperative scheme for localizing the robots based on visual imagery that is more robust than decentralized localization, and a set of control algorithms that allow the robots to maintain a prescribed formation (shape and size).  The ability to maintain a prescribed formation allows the robots to ``trap'' objects in their midst, and to ``flow'' the formation to a desired position. We derive the cooperative localization and control algorithms and present experimental results that illustrate the implementation and the performance of these algorithms

BibTeX entry:

@INPROCEEDINGS{SDF:01,
AUTHOR = {J. Spletzer and A. Das and R. Fierro and C. Taylor and V. Humar and J. Ostrowski},
TITLE = {Cooperative Localization and Control for Multi-Robot Manipulation},
YEAR = {2001},
BOOKTITLE = {Proceedings of the Conference on Intelligent Robots and Systems (IROS 2001)},
ADDDRESS = {Hawaii, USA}
}