Skip to main content


eCommons@Cornell >
College of Engineering >
Computer Science >
Computer Science Technical Reports >

Please use this identifier to cite or link to this item:
Title: Analyzing Teams of Cooperating Mobile Robots
Authors: Donald, Bruce Randall
Jennings, James
Rus, Daniela
Keywords: computer science
technical report
Issue Date: Jun-1994
Publisher: Cornell University
Abstract: 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.
Appears in Collections:Computer Science Technical Reports

Files in This Item:

File Description SizeFormat
94-1429.pdf1.18 MBAdobe PDFView/Open
94-1429.ps394.75 kBPostscriptView/Open

Refworks Export

Items in eCommons are protected by copyright, with all rights reserved, unless otherwise indicated.


© 2014 Cornell University Library Contact Us