Definition and Composition of Individual Robot Behaviours in Cooperative Box Pushing

Piotr Trojanek, Cezary Zieliński, Wojciech Szynkiewicz

Research output: Chapter in Book/Report/Conference proceedingConference Contribution (Conference Proceeding)

Abstract

This paper proposes an approach to the problem of defining both a set of behaviours of an individual robot and the method of their composition, so that a multi-robot system executes a general task. Multi-robot box pushing as an example of the cooperative transportation task carried out by teams of robots is considered. An exemplary task consists in pushing a box by two mobile robots, that are unaware of each others actions, along a partially specified trajectory. The formal specification method of the behaviours and their composition is presented, so that their implementation is accurate and simple. The simulation results show that the presented method of designing a behaviour based controller produces a satisfactory result.
Original languageEnglish
Title of host publicationProceedings of the 13th IEEE IFAC International Conference on Methods and Models in Automation and Robotics (on CD)
PublisherTechnical University of Szczecin
Publication statusPublished - 1 May 2007

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    Trojanek, P., Zieliński, C., & Szynkiewicz, W. (2007). Definition and Composition of Individual Robot Behaviours in Cooperative Box Pushing. In Proceedings of the 13th IEEE IFAC International Conference on Methods and Models in Automation and Robotics (on CD) Technical University of Szczecin.