Redundant manipulator techniques for partially decentralized path planning and control of a platoon of autonomous vehicles

IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics

Volumn 35, Issue 4, 2005, Pages 842-848

  Stilwell, Daniel J ^a   Bishop, Bradley E ^b   Sylvester, Caleb A ^c  

^a State University   (United States)

^b UNITED STATES NAVAL ACADEMY   (United States)

^c US Army National Ground Intelligence Center   (United States)

Author keywords

Cooperative systems; Distributed control; Mobile robots; Multiple manipulators

Indexed keywords

BANDWIDTH; DATA COMMUNICATION SYSTEMS; DECENTRALIZED CONTROL; DISTRIBUTED PARAMETER CONTROL SYSTEMS; MOTION CONTROL; MOTION PLANNING; REAL TIME SYSTEMS; REDUNDANT MANIPULATORS;

AUTONOMOUS VEHICLES; COOPERATIVE SYSTEMS; MULTIPLE MANIPULATORS;

MOBILE ROBOTS;

ALGORITHM; ARTIFICIAL INTELLIGENCE; COOPERATION; DECISION SUPPORT SYSTEM; EVALUATION; FEEDBACK SYSTEM; LETTER; METHODOLOGY; MOTOR VEHICLE; ROBOTICS; THEORETICAL MODEL;

ALGORITHMS; ARTIFICIAL INTELLIGENCE; COOPERATIVE BEHAVIOR; DECISION SUPPORT TECHNIQUES; FEEDBACK; MODELS, THEORETICAL; MOTOR VEHICLES; ROBOTICS;

EID: 24644522123     PISSN: 10834419     EISSN: None     Source Type: Journal    
DOI: 10.1109/TSMCB.2005.846643     Document Type: Article

References (18)

1. B. Siciliano, "Kinematic control of redundant robot manipulators: a tutorial," J. Intell. Robot. Syst., vol. 3, pp. 201-212, 1990.
2. C. A. Klein and C.-H. Huang, "Review of pseudoinverse control for use with kinematically redundant manipulators," IEEE Trans. Syst., Man, Cybern., vol. SMC-13, no. 3, pp. 245-250, 1983.
3. J. M. Hollerbach and K. C. Suh, "Redundancy resolution og manipulators through torque optimization," IEEE Trans. Robot. Autom., vol. 3, no. 4, pp. 308-316, Aug. 1987.
4. C. A. Klein and T.-S. Chung, "Force interaction and allocation for the legs of a walking vehicle," IEEE Trans. Robot. Autom., vol. 3, no. 6, pp. 546-555, Dec. 1987.
5. B. E. Bishop, "On the use of redundant manipulator techniques for control of platoons of cooperating robotic vehicles," IEEE Trans. Syst., Man, Cybern. A, vol. 33, no. 5, pp. 608-615, 2003.
6. B. E. Bishop and D. J. Stilwell, "On the application of redundant manipulator techniques to the control of platoons of autonomous vehicles," in Proc. IEEE Int. Conf. Control Applications, Mexico City, Mexico, 2001, pp. 823-828.
7. T. Balch and R. Arkin, "Communication in reactive multiagent robotic systems," Auton. Robots, vol. 1, no. 1, pp. 27-52, 1994.
8. D. J. Stilwell and J. S. Bay, "Optimal control for cooperating mobile robots bearing a common load," in Proc. IEEE Int. Conf. Robotics and Automation, San Diego, CA, 1994, pp. 766-771.
9. X. Yun, "Line and circle formation of distributed physical mobile robots," J. Robot. Syst., vol. 14, no. 2, pp. 63-81, 1997.
10. D. J. Stilwell and B. E. Bishop, "Redundant manipulator techniques for path planning and control of a platoon of autonomous vehicles," in Proc. IEEE Conf. Decision and Control, Las Vegas, NV, 2002, pp. 2093-2098.
11. C. Belta and V. Kumar, "Abstraction and control for groups of robots," IEEE Trans. Robot. Autom., vol. 20, no. 5, pp. 865-875, Oct. 2004.
12. C. Belta and V. Kumar, "Toward abstraction and control for large robot groups," in Control Problems in Robotics, A. Bicchi, H. I. Christensen, and D. Prattichizzo, Eds. Berlin/Heidelberg, Germany: Springer-Verlag, 2003, pp. 169-182.
13. V. Gazi and K. M. Passino, "Stability analysis of swarms," IEEE Trans. Automat. Contr, vol. 48, no. 4, pp. 692-697, Apr. 2003.
14. F. Zhang, M. Goldgeier, and P. S. Krishnaprasad, "Control of small formations using shape coordinates," in Proc. IEEE Int. Conf. Robotics and Automation, Taipei, Taiwan, R.O.C., Sep. 2003, pp. 2510-2515.
15. N. E. Leonard and E. Fiorelli, "Virual leaders, artificial potentials, and coordinated control of groups," in Proc. IEEE Conf. Decision and Control, Orlando, FL, 2001, pp. 2968-2973.
16. T. R. Smith, H. Hanmann, and N. E. Leonard, "Orientation control of multiple underwater vehicles with symmetry-breaking potentials," in Proc. IEEE Conf. Decision and Control, Orlando, FL, 2001, pp. 4598-4603.
17. E. Fiorelli, N. E. Leonard, P. Bhatta, D. Paley, R. Bachmayer, and D. M. Fratantoni, "Multi-AUV control and adaptive sampling in Monterey Bay," in Proceedings of the IEEE Autonomous Underwater Vehicle Workshop, Sebasco Estates, ME, 2004.
18. G. Antonelli and S. Chiaverini, "Fault tolerant kinematic control of platoons of autonomous vehicles," in Proc. IEEE Int. Conf. on Robotics and Automation, New Orleans, LA, 2004, pp. 3313-3318.