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An approach towards decentralized control of cooperating non-autonomous multiple robots

Published online by Cambridge University Press:  18 April 2001

Khalid Munawar ,
Masayoshi Esashi  and
Masaru Uchiyama
Khalid Munawar
Affiliation:
Graduate School of Engineering, Tohoku University, Aoba-yama 01, Aoba-ku, Sendai 980-8579 (JAPAN)
Masayoshi Esashi
Affiliation:
New Industry Creation Hatchery Center, Tohoku University, Aoba-yama 01, Aoba-ku, Sendai 980-8579 (JAPAN)
Masaru Uchiyama
Affiliation:
Graduate School of Engineering, Tohoku University, Aoba-yama 01, Aoba-ku, Sendai 980-8579 (JAPAN)
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Abstract

This paper introduces an event-based decentralized control scheme for the cooperation between multiple manipulators. This is in contrast to the common practice of using only centralized controls for such cooperation which, consequently, greatly limit the flexibility of robotic systems. The manipulators used in the present system are very simple with only two degrees of freedom, while even one of them is passive. Moreover these manipulators use very few and commonly available sensors only. Computer simulations indicated the applicability of the event-based decentralized control scheme for multi-manipulator cooperation, while real-life experimental implementation has proved that the proposed decentralized control scheme is fairly applicable for very simple and even under-actuated systems too. Hence, this work has opened new doors towards further research in this area. The proposed control scheme is expected to be equally applicable for any mobile or immobile multi-robotic system.

Keywords

Decentralized controlMultiple robotsCooperation
Type
Research Article
Information
Robotica , Volume 18 , Issue 5 , September 2000 , pp. 495 - 504
Copyright
© 2000 Cambridge University Press

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