30 September 2003 Enhancing mobility via cooperation: analysis and design
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Abstract
A team of small, low cost robots instead of one large, complex robot is useful in operations such as search and rescue, urban exploration etc. However, the performance of such a team is limited due to restricted mobility of the team members. We propose to overcome the mobility restrictions by physical cooperation among the team members. We carry out a feasibility analysis of a particular behavior of two robots cooperating to cross a gap and also consider the effect of the scaling of the robot dimensions. We simulate the dynamic equations describing the motion which leads to the relaxation the requirements derived from the static analysis. A decentralized control architecture is designed which avoids continuous communication between the robots thus rendering the cooperation to be simple and low cost.
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Ashish D. Deshpande, Jonathan E. Luntz, "Enhancing mobility via cooperation: analysis and design", Proc. SPIE 5083, Unmanned Ground Vehicle Technology V, (30 September 2003); doi: 10.1117/12.498347; https://doi.org/10.1117/12.498347
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