"Look out!": Socially-Mediated Obstacle Avoidance in Collective Transport
نویسندگان
چکیده
In this paper, we present a novel methodology to perform collective transport in the presence of obstacles. Three robots are physically connected in a semicircle around an object to be transported from a start to a goal location. The task poses two main challenges. First, the presence of both a goal and obstacles requires appropriate negotiation of the direction among the members of the group. Second, since the robots are attached in a semi-circle around the object, they need to maintain a certain orientation of motion in order to maximize the sensor’s perception range. We developed two interacting behaviors to tackle these two issues. In the experiments done in simulation, efficiency was analyzed in an environment with only one obstacle, and robustness in an environment with several obstacles.
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Collective Transport with Obstacle Avoidance through Socially-Mediated Negotiation
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