TU Darmstadt / ULB / TUbiblio

Towards cooperation of heterogeneous, autonomous robots: a case study of humanoid and wheeled robots

Kiener, Jutta and Stryk, Oskar von and Stryk, Oskar von (2010):
Towards cooperation of heterogeneous, autonomous robots: a case study of humanoid and wheeled robots.
In: Robotics and Autonomous Systems, pp. 921-929, 58, (7), DOI: 10.1016/j.robot.2010.03.013,
[Online-Edition: http://www.sciencedirect.com/science/article/pii/S0921889010...],
[Article]

Abstract

In this paper a case study of cooperation of a strongly heterogeneous autonomous robot team, composed of a highly articulated humanoid robot and a wheeled robot with largely complementing and some redundant abilities is presented. By combining strongly heterogeneous robots the diversity of achievable tasks increases as the variety of sensing and motion abilities of the robot system is extended compared to a usually considered team of homogeneous robots. A number of methodologies and technologies required to achieve the long-term goal of cooperation of heterogeneous autonomous robots are discussed including modeling tasks and robot abilities, task assignment and redistribution, robot behavior modeling and programming, robot middleware and robot simulation. Example solutions and their application to the cooperation of autonomous wheeled and humanoid robots are presented in this case study. The scenario describes a tightly coupled cooperative task, where the humanoid robot and the wheeled robot track a moving ball, which is to be approached and kicked by the humanoid robot into a goal. The task can be fulfilled successfully by combining the abilities of both robots.

Item Type: Article
Erschienen: 2010
Creators: Kiener, Jutta and Stryk, Oskar von and Stryk, Oskar von
Title: Towards cooperation of heterogeneous, autonomous robots: a case study of humanoid and wheeled robots
Language: English
Abstract:

In this paper a case study of cooperation of a strongly heterogeneous autonomous robot team, composed of a highly articulated humanoid robot and a wheeled robot with largely complementing and some redundant abilities is presented. By combining strongly heterogeneous robots the diversity of achievable tasks increases as the variety of sensing and motion abilities of the robot system is extended compared to a usually considered team of homogeneous robots. A number of methodologies and technologies required to achieve the long-term goal of cooperation of heterogeneous autonomous robots are discussed including modeling tasks and robot abilities, task assignment and redistribution, robot behavior modeling and programming, robot middleware and robot simulation. Example solutions and their application to the cooperation of autonomous wheeled and humanoid robots are presented in this case study. The scenario describes a tightly coupled cooperative task, where the humanoid robot and the wheeled robot track a moving ball, which is to be approached and kicked by the humanoid robot into a goal. The task can be fulfilled successfully by combining the abilities of both robots.

Journal or Publication Title: Robotics and Autonomous Systems
Volume: 58
Number: 7
Uncontrolled Keywords: Heterogeneous multi-robot team; autonomous humanoid robot; task distribution and allocation; behavior control; robot middleware; robot simulator
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Date Deposited: 20 Jun 2016 23:26
DOI: 10.1016/j.robot.2010.03.013
Official URL: http://www.sciencedirect.com/science/article/pii/S0921889010...
Identification Number: 2010:RAS-KienervonStryk
Related URLs:
Export:

Optionen (nur für Redakteure)

View Item View Item