Cooperative Manipulation by Autonomous Intelligent Robots

Cooperative Manipulation of Objects by Multiple Mobile Robots

In this paper we propose a method that multiple mobile robots use tools to accomplish tasks. To give an actual example, the robots can push and manipulate objects by means of a stick and can pull objects by means of string. We classify tools in view of their characteristic and the robots make use of characteristics of tools to accomplish tasks easily and efficiently. We adopt sticks and strings...

Vision-Based Cooperative Manipulation of Mobile Robots

A robot cooperative manipulation system based on visual simultaneous localization and mapping is proposed in this paper. A single camera mounted on each mobile robot is used to observe unknown environments. SURF algorithm is employed to extract features of the environment and the target object. Three-dimensional positions of the features are estimated according to the visual information. The st...

Cooperative manipulation and transportation with aerial robots

In this paper we consider the problem of controlling multiple robots manipulating and transporting a payload in three dimensions via cables. We develop robot configurations that ensure static equilibrium of the payload at a desired pose while respecting constraints on the tension and provide analysis of payload stability for these configurations. We demonstrate our methods on a team of aerial r...

Networking Multiple Robots for Cooperative Manipulation

Landmark-based Matching Algorithm for Cooperative Mapping by Autonomous Robots

This paper describes a landmark-based algorithm for map matching, and demonstrates its use in e ciently combining topological maps of indoor environments built by autonomous mobile robots. Results of the rst implementation are presented, in which two robots with di erent mechanics and sensory capabilities independently explore their environments with no a priori maps. Each robot is initially un...