This paper addresses the problem of collaborative manipulation of an object performed by a group of robots. In particular, the objective is achieved by means of pushing, implemented by a group of small wheeled mobile robots. The proposed method exploits the well known Voronoi-based coverage control method to deploy the robots in the environment according to a given probability density function. The shape of such a density function is defined, in a time varying manner, by a pushing policy function to enable planar manipulations, considering only the footprint of the manipulated object. The proposed method is validated by means of extensive simulations and real world scenario experiments with different sized robot groups and different manipulated objects.

Planar Pushing Manipulation with a Group of Mobile Robots / Bertoncelli, F.; Sabattini, L.. - (2021), pp. 897-904. (Intervento presentato al convegno 20th International Conference on Advanced Robotics, ICAR 2021 tenutosi a svn nel 2021) [10.1109/ICAR53236.2021.9659437].

Planar Pushing Manipulation with a Group of Mobile Robots

Bertoncelli F.
;
Sabattini L.
2021

Abstract

This paper addresses the problem of collaborative manipulation of an object performed by a group of robots. In particular, the objective is achieved by means of pushing, implemented by a group of small wheeled mobile robots. The proposed method exploits the well known Voronoi-based coverage control method to deploy the robots in the environment according to a given probability density function. The shape of such a density function is defined, in a time varying manner, by a pushing policy function to enable planar manipulations, considering only the footprint of the manipulated object. The proposed method is validated by means of extensive simulations and real world scenario experiments with different sized robot groups and different manipulated objects.
2021
20th International Conference on Advanced Robotics, ICAR 2021
svn
2021
897
904
Bertoncelli, F.; Sabattini, L.
Planar Pushing Manipulation with a Group of Mobile Robots / Bertoncelli, F.; Sabattini, L.. - (2021), pp. 897-904. (Intervento presentato al convegno 20th International Conference on Advanced Robotics, ICAR 2021 tenutosi a svn nel 2021) [10.1109/ICAR53236.2021.9659437].
File in questo prodotto:
Non ci sono file associati a questo prodotto.
Pubblicazioni consigliate

Licenza Creative Commons
I metadati presenti in IRIS UNIMORE sono rilasciati con licenza Creative Commons CC0 1.0 Universal, mentre i file delle pubblicazioni sono rilasciati con licenza Attribuzione 4.0 Internazionale (CC BY 4.0), salvo diversa indicazione.
In caso di violazione di copyright, contattare Supporto Iris

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11380/1280839
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 0
  • ???jsp.display-item.citation.isi??? 0
social impact