Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
The dynamics of collective sorting robot-like ants and ant-like robots
Proceedings of the first international conference on simulation of adaptive behavior on From animals to animats
Adaptive action selection for cooperative agent teams
Proceedings of the second international conference on From animals to animats 2 : simulation of adaptive behavior: simulation of adaptive behavior
From Tom Thumb to the Dockers: some experiments with foraging robots
Proceedings of the second international conference on From animals to animats 2 : simulation of adaptive behavior: simulation of adaptive behavior
International Journal of Human-Computer Studies
Hi-index | 0.00 |
Abstract: This paper proposes a motion/task planning method for multiple mobile robots. It has two characteristics as follows: (1) facility of implementing tasks, and (2) adapting ability to environment. A layered hierarchical structure is adopted for the proposed planner. The lower layer called "virtual impedance method" makes a real-time plan to follow the generated trajectory while avoiding obstacles and other robots. The upper layer determines the design parameters of the lower layer which can express "motion skills". Simulation results on motion planning and transporting tasks indicate effectiveness of the proposed method.