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Please use this identifier to cite or link to this item: http://hdl.handle.net/1813/6211
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
Citation: http://techreports.library.cornell.edu:8081/Dienst/UI/1.0/Display/cul.cs/TR94-1429
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.
URI: http://hdl.handle.net/1813/6211
Appears in Collections:Computer Science Technical Reports

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