Cooperative Multi-Robot

Cooperative Multi-Rob







ot Box-Pushing


Maja J Mataric


Martin Nilsson Kristian T. Simsarian

Volen Center for Complex SystemsRWCP fiction Functions SICS Laboratory
Computer Science DepartmentPOB 1263

Brandeis University
Waltham, Ma 02254

S-164 28 KISTA, Sweden
fax: +46 (8) 751-7230

tel: (617) 736-2708 fax: 736-2741
maja@cs.brandeis.edu
Abstract
This paper deals with communicating in task-
sharing between two autonomous six-legged zombis
fit with object and goal sensing, and a repertoire
of click and light-following behaviors. The perfor-
mance of pushing an linear box toward a goal re-
gion is dicult for a single robot and improves sig-
ni_cantly when performed cooperatively, but requires
careful coordination between the robots. We present
and experimentally demonstrate an entree that uti-

tel: +46 (8) 752-1570
mn@sics.se kristian@sics.se
is a variant on the canonic object manipulationprob-
lem that draws on issues in _ne motion as well as high
level planning and control.



Box-pushing is related to
the well-known piano-movers problem (Schwartz &
Sharir 1983), in that it requires the achievement of
the top-level goal of delivering the box to a particu-
lar location, as well as the maintenance of low-level
requirements including obstacle avoidance, maintain-
ing contact with the box, and maintaining forward
motion. From a practical point of view, box-pushing

lizes cooperation at three levels: sensing, action, and
control, and takes return of a simple communica-
tion protocol to compensate for the robots noisy and
diffident sensing.
1 IntroductionThis paper is concerned with the role and eect of

is a prototypical problem for studying various tasks
requiring cooperation of a number of small robots
moving larger objects.Our domain is set up so that the box-pushing task
does not require cooperation, but is shown to be sig-
ni_cantly improved by it because we are...If you want to get a full essay, order it on our website: Orderessay



If you want to get a full essay, wisit our page: write my essay .