Cooperative multi-robot box-pushing
نویسندگان
چکیده
This paper deals with communication in tasksharing between two autonomous six-legged robots equipped with object and goal sensing, and a repertoire of contact and light-following behaviors. The performance of pushing an elongated box toward a goal region is di cult for a single robot and improves signi cantly when performed cooperatively, but requires careful coordination between the robots. We present and experimentally demonstrate an approach that utilizes cooperation at three levels: sensing, action, and control, and takes advantage of a simple communication protocol to compensate for the robots' noisy and
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