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Collaborative motion planning of humanoid robots
KTH, School of Electrical Engineering (EES), Automatic Control.
2014 (English)Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

For a matter of efficiency and robustness, it is often better to use a team of robots

instead of a single agent to solve a given problem. A key challenge with multi-robot

systems is the collaboration in order to accomplish complex tasks. To coordinate

them, we can pre-compute their behavior. However, this method might not be

robust to some events such as modification of environment or robots team. To

overcome this issue, an adaptive decentralized coordination framework is needed for

heterogeneous multiple robot systems.

We consider a team of two robots NAOs which can only exchange information when

they are close to each other, or via symbols grounded to each embodiment. They

are initially in a room a few meters away from each other. The goal is to make them

meet and then perform an action such as exchanging an object or some information.

In this thesis, we study first robots specifications and adopt tools used for robot control.

A tracking method in a simple situation is then described. The robots’ strategy

is structured and improved adding obstacles limiting the two agents’ motion.

The achieved robust framework allows two humanoid robots to meet, even if one

has a problem and can not move.

Place, publisher, year, edition, pages
2014. , 68 p.
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-151020OAI: oai:DiVA.org:kth-151020DiVA: diva2:746350
Supervisors
Available from: 2014-09-12 Created: 2014-09-12 Last updated: 2014-09-12Bibliographically approved

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CiteExportLink to record
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  • apa
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