Cooperating Multiple Behavior-Based Robots for Object Manipulation - System and Cooperation Strategy -

摘要

A multiple vehicle robot system for cooperative object manipulation is described. This sys­ tem consists of a host and several distributed behavior-based vehicle robot agents. A strategy on cooperatively organizing the behavior-based robots which only have limited ability in ma­ nipulation is discussed. An extended subsumption architecture, which has some layers for manipulation and cooperation, is built for each vehicle robot. A simulator and some simula­ tion results are shown also.