{"id":424,"date":"2014-07-24T17:11:18","date_gmt":"2014-07-24T21:11:18","guid":{"rendered":"https:\/\/sites.bu.edu\/msl\/?page_id=424"},"modified":"2014-11-10T21:43:40","modified_gmt":"2014-11-11T02:43:40","slug":"researchmulti-robot-manipulation-without-communication","status":"publish","type":"page","link":"https:\/\/sites.bu.edu\/msl\/research\/researchmulti-robot-manipulation-without-communication\/","title":{"rendered":"Multi-Robot Manipulation without Communication"},"content":{"rendered":"<p class=\"p1\">In this work, we presents a novel consensus-based multi-robot manipulation algorithm which allows a large number of small robots to move a comparatively large object along a\u00a0desired trajectory to a goal location. The algorithm does not require an explicit communication network among the robots. Instead, the robots coordinate their actions\u00a0through sensing the motion of the object itself. It is proven that this implicit information is sufficient to synchronize the forces applied by the robots. A leader robot\u00a0then steers the forces of the synchronized group to manipulate the object through\u00a0the desired trajectory to the goal. Our algorithms are proven to\u00a0control both translational and rotational motion of the object.<\/p>\n<p class=\"p1\">The video below verifies our algorithms in simulation, where we use a famous physics engine named Open Dynamic Engine (ODE). \u00a0Two scenarios are demonstrated with 20 robots transporting a rectangular plank\u00a0and 1000 robots transporting a piano.<\/p>\n<p><iframe loading=\"lazy\" width=\"560\" height=\"315\" src=\"\/\/www.youtube.com\/embed\/emZVxcl3Zg4?rel=0\" frameborder=\"0\" allowfullscreen=\"\"><\/iframe><\/p>\n<p>For more details about our approach, please refer to our paper [1].<\/p>\n<p>[1] Z. Wang, M. Schwager, \u201cMulti-Robot Manipulation without Communication,\u201d In\u00a0<em>International Symposium on Distributed Autonomous Robotic Systems(DARS 14)<\/em>, November, 2014.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>In this work, we presents a novel consensus-based multi-robot manipulation algorithm which allows a large number of small robots to move a comparatively large object along a\u00a0desired trajectory to a goal location. The algorithm does not require an explicit communication network among the robots. Instead, the robots coordinate their actions\u00a0through sensing the motion of the [&hellip;]<\/p>\n","protected":false},"author":8365,"featured_media":0,"parent":44,"menu_order":2,"comment_status":"closed","ping_status":"closed","template":"","meta":[],"_links":{"self":[{"href":"https:\/\/sites.bu.edu\/msl\/wp-json\/wp\/v2\/pages\/424"}],"collection":[{"href":"https:\/\/sites.bu.edu\/msl\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/sites.bu.edu\/msl\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/sites.bu.edu\/msl\/wp-json\/wp\/v2\/users\/8365"}],"replies":[{"embeddable":true,"href":"https:\/\/sites.bu.edu\/msl\/wp-json\/wp\/v2\/comments?post=424"}],"version-history":[{"count":4,"href":"https:\/\/sites.bu.edu\/msl\/wp-json\/wp\/v2\/pages\/424\/revisions"}],"predecessor-version":[{"id":547,"href":"https:\/\/sites.bu.edu\/msl\/wp-json\/wp\/v2\/pages\/424\/revisions\/547"}],"up":[{"embeddable":true,"href":"https:\/\/sites.bu.edu\/msl\/wp-json\/wp\/v2\/pages\/44"}],"wp:attachment":[{"href":"https:\/\/sites.bu.edu\/msl\/wp-json\/wp\/v2\/media?parent=424"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}