Formation Control of Cooperative Transportation of Mother Ship for SMC

Yasuaki Taniguchi; Yoshiyuki Tsuganezawa; Masaki Yamakita

doi:10.11499/sicep.2002.0.34.0

SICE Annual Conference 2002

DOI https://doi.org/10.11499/sicep.2002.0.34.0

Conference information

Host: The Society of Instrument and Control Engineers

Co-host: IEEE/Industiral Electronic Society, IEEE/Robotics and Automation Society, IEEE/Control System Society

Formation Control of Cooperative Transportation of Mother Ship for SMC

Yasuaki Taniguchi, Yoshiyuki Tsuganezawa, Masaki Yamakita

Author information

Keywords: MMRS, Formation Control, SMC

CONFERENCE PROCEEDINGS FREE ACCESS

Pages 34

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Abstract

This paper discusses a formation control of a multiple mobile robot system (MMRS) called Super Mechano Colony (SMC). First, we describe the SMC system composed of a mother ship and many agents as a prototype of MMRS. Second, we propose a cooperative transportation method of the mother ship with multiple agents, and the properties of the proposed method is analyzed using an experimental system.

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