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Compliant and Robotic Systems (CARS) |
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Comply for the right reasons! |
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Of the many examples in nature, the way the ants, bees and wasps function collectively is extremely intriguing. Based on this, I have developed a deterministic, position-control methodology for a group of robots to capture (in form closure) and transport a large, gradually moving object. First, the approach sites on the object are optimally identified. The agents then approach these sites through projective path planning avoiding collision with themselves and the object. Post capture, agents use a combination of projective path planning and broken serpentine motions to transport the object to its final destination. Below are some pictures depicting object capture and transportation. The object is depicted using green, obstacles with yellow and multi-agents using red.
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Swarm Robotics |
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Journals (1) |
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Journals (2) |
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transportation |
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Capture: object moving along a circular path |