| Distributed motion generation for two omni-directional robots carrying a ladder (2008) | |||||||||||||||||
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| Abstract. The problem of e ciently moving a pair of omni-directional robots carrying a ladder using distributed control is discussed. We rst consider the case in which two robots that may di er only in their maximum speeds are situated in an obstacle-free workspace, and presenttwo distributed algorithms. Next, a distributed algorithm is presented for the case in which the workspace is a narrow corridor with a 90 degree corner and two robots are chosen from a large pool of robots having di erent characteristics in terms of the maximum speed, path generation strategy, sensitivity to the motion of the other robot, etc. The e ectiveness of the algorithms is evaluated using computer simulation. Finally we present an outline of a distributed control scheme based on heuristic search that can potentially be used for more complex situations involving a larger number of robots in a workspace cluttered with obstacles. 1 | |||||||||||||||||
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