Analyzing Teams of Cooperating Mobile Robots
Donald, Bruce Randall; Jennings, James; Rus, Daniela
In [Don4], we described a manipulation task for cooperating mobile robots that can push large, heavy objects. There, we asked whether explicit local and global communication between the agents can be removed from a family of pushing protocols. In this paper, we answer in the affirmative. We do so by using the general methods of [Don4] analyzing information invariants. We discuss several measures for the information complexity of the task of pushing with cooperating mobile robots, and we present a methodology for creating new manipulation strategies out of existing ones. We develop and analyze synchronous and asynchronous manipulation protocols for a small team of cooperating mobile robots that can push large boxes. The protocols we describe have been implemented in several forms on the Cornell mobile robots in our laboratory.
computer science; technical report
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