Tham khảo tài liệu 'multi-robot systems from swarms to intelligent automata - parker et al (eds) part 13', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Precision Manipulation with Cooperative Robots 247 5. Conclusions and Future Work The Robotic Construction Crew performs cooperative transport and precision manipulation of long rigid beams in the context of a construction task. To place these beams precisely into a structure the team must align accurately with the structure while remaining in formation. This process iteratively aligns range offset and heading. To maintain formation during transport force-torque feedback is used to adjust velocity. RCC is robust to variable initial conditions changes in the amount and quality of information available synchronization errors and temporary communication loss motion errors due to slippage and minor driving or arm kinematics errors. In current and future work we will refine velocity control for formation following and investigate continual steering adjustments to compensate for formation errors not in the direction of motion. Additionally force-torque feedback to maintain formations during turns will be included. Acknowledgments This work was carried out at the Jet Propulsion Laboratory California Institute of Technology under a contract with the National Aeronautics and Space Administration. We thank Paul Schenker Neville Marzwell and Eric Baumgartner for supporting the RCC effort and Matthew Robinson for contributing to RCC development. We thank Brett Kennedy Tony Ganino Mike Garrett and Lee Magnone for platform support. References Balch T. and Arkin R. C. 1998 . Behavior-based formation control for multirobot teams. IEEE Transactions on Robotics and Automation 14 6 926-939. Borenstein J. 2000 . The Omnimate A guidewire- and beacon-free AGV for highly reconfigurable applications. International Journal of Production Research 38 9 1993-2010. Brown R. G. and Jennings J. S. 1995 A pusher steerer model for strongly cooperative mobile robot manipulation. Proceedings of IEEE RSJ International Conference on Intelligent Robots and Systems 3 562-568. Carpin S. and Parker L. E.
