The Null-Space-Based behavioral control for soccer-playing mobile robots

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Volumn 2, Issue , 2005, Pages 1257-1262

  Antonelli, Gianluca ^a   Arrichiello, Filippo ^a   Chiaverini, Stefano ^a  

^a Dipartimento di Automazione   (Italy)

Author keywords

Behavioral control; Mobile robots; Soccer playing robots; Task functions; Task priority inverse kinematics

Indexed keywords

CONTROL SYSTEM ANALYSIS; KINEMATICS;

BEHAVIORAL CONTROL; NULL-SPACE-BASED (NSB) BEHAVIORAL CONTROL; SOCCER-PLAYING ROBOTS; TASK FUNCTIONS; TASK-PRIORITY INVERSE KINEMATICS;

MOBILE ROBOTS;

EID: 27644550616     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (21)

1. http://www.k-team.com/. K-Team.
2. G. Antonelli, F. Arrichiello, and S. Chiaverini. Experimental kinematic comparison of behavioral approaches for mobile robots. In 16th IFAC World Congress, Praha, CZ, July 2005.
3. G. Antonelli and S. Chiaverini. Fuzzy redundancy resolution and motion coordination for underwater vehicle-manipulator systems. IEEE Transactions on Fuzzy Systems, 11(1):109-120, 2003.
4. G. Antonelli and S. Chiaverini. Kinematic control of a platoon of autonomous vehicles. In Proceedings 2003 IEEE International Conference on Robotics and Automation, pages 1464-1469, Taipei, TW, Sept 2003.
5. G. Antonelli and S. Chiaverini. Obstacle avoidance for a platoon of autonomous underwater vehicles. In Proceedings 6 th IFAC Conference on Manoeuvring and Control of Marine Craft, pages 143-148, Girona, SP, Sept. 2003.
6. G. Antonelli and S. Chiaverini. Fault tolerant kinematic control of platoons of autonomous vehicles. In Proceedings 2004 IEEE International Conference on Robotics and Automation, pages 3313-3318, New Orleans, LA, April 2004.
7. R.C. Arkin. Motor schema based mobile robot navigation. The International Journal of Robotics Research, 8(4):92-112, 1989.
8. R.C. Arkin, Behavior-Based Robotics. The MIT Press, Cambridge, MA, 1998.
9. T. Batch and R.C. Arkin. Behavior-based formation control for multirobot teams. IEEE Transactions on Robotics and Automation, 14(6):926-939, 1998.
10. B.E. Bishop. On the use of redundant manipulator techniques for control of platoons of cooperating robotic vehicles. IEEE Transactions on Systems, Man and Cybernetics, 33(5):608-615, Sept. 2003.
11. B.E. Bishop and D.J. Stilwell. On the application of redundant manipulator techniques to the control of platoons of autonomous vehicles. In Proceedings 2001 IEEE International Conference on Control Applications, pages 823-828, México City, MX, Sept. 2001.
12. R.A. Brooks. A robust layered control system for a mobile robot. IEEE Journal of Robotics and Automation, 2:14-23, 1986.
13. P. Chiacchio, S. Chiaverini, L. Sciavicco, and B. Siciliano. Closed-loop inverse kinematics schemes for constrained redundant manipulators with task space augmentation and task priority strategy. The International Journal Robotics Research, 10(4):410-425, 1991.
14. S. Chiaverini. Singularity-robust task-priority redundancy resolution for real-time kinematic control of robot manipulators. IEEE Transactions on Robotics and Automation, 13(3):398-410, 1997.
15. A.A. Maciejewski. Numerical filtering for the operation of robotic manipulators through kinematically singular configurations. Journal of Robotic Systems, 5(6):527-552, 1988.
16. Y. Nakamura, H. Hanafusa, and T. Yoshikawa. Task-priority based redundancy control of robot manipulators. The International Journal Robotics Research, 6(2):3-15, 1987.
17. G. Oriolo, A. De Luca, and M. Vendittelli. WMR control via dynamic feedback linearization: design, implementation, and experimental validation. IEEE Transactions on Control Systems Technology, 10(6):835-852, 2002.
18. A. Saffiotti and Z. Wasik. A hierarchical behavior-based approach to manipulation tasks. In Proceedings 2003 IEEE International Conference on Robotics and Automation, pages 2780-2785, Taipei, Taiwan, Sept 2003.
19. M. Scheutz and V. Andronache. Architectural mechanisms for dynamic changes of behavior selection strategies in behavior-based systems. IEEE Transactions on Systems, Man and Cybernetics, 34(6):2377-2395, Dec. 2004.
20. B. Siciliano. Kinematic control of redundant robot manipulators: A tutorial. Journal of Intelligent Robotic Systems, 3:201-212, 1990.
21. Y. Yang, O. Brock, and R.A. Grupen. Exploiting redundancy to implement multi-objective behavior. In Proceedings 2003 IEEE International Conference on Robotics and Automation, pages 3385-3390, Taipei, Taiwan, Sept. 2003.