TY - GEN
T1 - Cooperative field estimation and tracking by autonomous manipulator and mobile robots
AU - Jeon, Soo
AU - Choi, Jongeun
PY - 2012
Y1 - 2012
N2 - In this paper, we present coordination algorithms for an heterogeneous robotic group consisting of a mobile manipulator and a number of mobile sensing agents to cooperatively estimate a toxic field and trace its maximum point. In particular, we treat the mobile manipulator as a master machine and mobile sensing agents as slave machines such that, at the converged configuration, the end effector of the manipulator can reach the maximum point. The unknown field has been modeled by a network of radial basis functions and mobile robots are coordinated by flocking and gradient control algorithms based on their estimated fields. A simulation study demonstrates the validity of the proposed scheme in an industrial disaster or emergency scenario.
AB - In this paper, we present coordination algorithms for an heterogeneous robotic group consisting of a mobile manipulator and a number of mobile sensing agents to cooperatively estimate a toxic field and trace its maximum point. In particular, we treat the mobile manipulator as a master machine and mobile sensing agents as slave machines such that, at the converged configuration, the end effector of the manipulator can reach the maximum point. The unknown field has been modeled by a network of radial basis functions and mobile robots are coordinated by flocking and gradient control algorithms based on their estimated fields. A simulation study demonstrates the validity of the proposed scheme in an industrial disaster or emergency scenario.
UR - http://www.scopus.com/inward/record.url?scp=84885900927&partnerID=8YFLogxK
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U2 - 10.1115/DSCC2012-MOVIC2012-8844
DO - 10.1115/DSCC2012-MOVIC2012-8844
M3 - Conference contribution
AN - SCOPUS:84885900927
SN - 9780791845301
T3 - ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
SP - 449
EP - 456
BT - ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
T2 - ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
Y2 - 17 October 2012 through 19 October 2012
ER -