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Cooperation of heterogeneous, autonomous robots: A case study of humanoid and wheeled robots

Kiener, Jutta and Stryk, Oskar von and Stryk, Oskar von (2007):
Cooperation of heterogeneous, autonomous robots: A case study of humanoid and wheeled robots.
In: Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Diego, CA, USA, [Conference or Workshop Item]

Abstract

In this paper we present a case study of cooperation of a strongly heterogeneous robot team, composed of a highly articulated humanoid robot and a wheeled robot with largely complementing and some competing capabilities. By combining two strongly heterogeneous robots the diversity of accomplishable tasks increases as the variety of sensors and actuators in the robot systems is extended compared with a team consisting of homogeneous robots. The scenario describes a tightly cooperative task, where the humanoid robot and the wheeled robot follow for a long distance a ball, which is kicked finally by the humanoid robot into a goal. The task can be fulfilled successfully by combining the abilities of both robots. For task distribution and allocation, a newly developed objective function is presented which is based on a proper modeling of the sensing, perception, motion and onboard computing capabilities of the cooperating robots. Aspects of reliability and fault tolerance are considered.

Item Type: Conference or Workshop Item
Erschienen: 2007
Creators: Kiener, Jutta and Stryk, Oskar von and Stryk, Oskar von
Title: Cooperation of heterogeneous, autonomous robots: A case study of humanoid and wheeled robots
Language: English
Abstract:

In this paper we present a case study of cooperation of a strongly heterogeneous robot team, composed of a highly articulated humanoid robot and a wheeled robot with largely complementing and some competing capabilities. By combining two strongly heterogeneous robots the diversity of accomplishable tasks increases as the variety of sensors and actuators in the robot systems is extended compared with a team consisting of homogeneous robots. The scenario describes a tightly cooperative task, where the humanoid robot and the wheeled robot follow for a long distance a ball, which is kicked finally by the humanoid robot into a goal. The task can be fulfilled successfully by combining the abilities of both robots. For task distribution and allocation, a newly developed objective function is presented which is based on a proper modeling of the sensing, perception, motion and onboard computing capabilities of the cooperating robots. Aspects of reliability and fault tolerance are considered.

Title of Book: Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Place of Publication: San Diego, CA, USA
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Date Deposited: 20 Jun 2016 23:26
Identification Number: 2007:IROS-Kiener-vonStryk
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