Cooperative field estimation and tracking by autonomous manipulator and mobile robots

Soo Jeon, Jongeun Choi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we present coordination algorithms for an heterogeneous robotic group consisting of a mobile manipulator and a number of mobile sensing agents to cooperatively estimate a toxic field and trace its maximum point. In particular, we treat the mobile manipulator as a master machine and mobile sensing agents as slave machines such that, at the converged configuration, the end effector of the manipulator can reach the maximum point. The unknown field has been modeled by a network of radial basis functions and mobile robots are coordinated by flocking and gradient control algorithms based on their estimated fields. A simulation study demonstrates the validity of the proposed scheme in an industrial disaster or emergency scenario.

Original languageEnglish
Title of host publicationASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
Pages449-456
Number of pages8
DOIs
Publication statusPublished - 2012
EventASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012 - Fort Lauderdale, FL, United States
Duration: 2012 Oct 172012 Oct 19

Publication series

NameASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
Volume2

Other

OtherASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
CountryUnited States
CityFort Lauderdale, FL
Period12/10/1712/10/19

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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  • Cite this

    Jeon, S., & Choi, J. (2012). Cooperative field estimation and tracking by autonomous manipulator and mobile robots. In ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012 (pp. 449-456). (ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012; Vol. 2). https://doi.org/10.1115/DSCC2012-MOVIC2012-8844