Abstract
We have proposed a decentralized control algorithms (Kosuge and Oosumi, 1996; Kosuge et al, 1996) of multiple robots handling a single object in coordination. The proposed algorithm is a leader-follower type; the motion command of the object is given to one of the robots, referred to as a leader, and the other robots, referred to as followers, estimate the motion of the leader by themselves through the motion of the object and handle the object based on the estimated motion. The proposed control algorithm have been implemented in the experimental system, which consisted of two or three mobile robots with one degree of freedom. In this paper, this control algorithm is experimentally implemented in two autonomous omni directional mobile robots (ZEN) and the experimental results illustrate the validity of the system.
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