TY - GEN
T1 - Socially-mediated negotiation for obstacle avoidance in collective transport
AU - Ferrante, Eliseo
AU - Brambilla, Manuele
AU - Birattari, Mauro
AU - Dorigo, Marco
PY - 2012
Y1 - 2012
N2 - In this paper, we present a novel method for performing collective transport in the presence of obstacles. Three robots are physically connected to an object to be transported from a start to a goal location. The task is particularly challenging because the robots have a heterogeneous perception of the environment. In fact, the goal and the obstacles can be perceived only by some of the robots. Hence, the task requires appropriate negotiation of the direction among the robots. We developed a novel negotiation strategy in order to tackle this challenge.We perform experiments in simulation. In the experiments,we analyze efficiency in an environment with only one obstacle, and robustness in an environment with several obstacles.
AB - In this paper, we present a novel method for performing collective transport in the presence of obstacles. Three robots are physically connected to an object to be transported from a start to a goal location. The task is particularly challenging because the robots have a heterogeneous perception of the environment. In fact, the goal and the obstacles can be perceived only by some of the robots. Hence, the task requires appropriate negotiation of the direction among the robots. We developed a novel negotiation strategy in order to tackle this challenge.We perform experiments in simulation. In the experiments,we analyze efficiency in an environment with only one obstacle, and robustness in an environment with several obstacles.
UR - http://www.scopus.com/inward/record.url?scp=84870756928&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84870756928&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-32723-0_41
DO - 10.1007/978-3-642-32723-0_41
M3 - Conference contribution
AN - SCOPUS:84870756928
SN - 9783642327223
T3 - Springer Tracts in Advanced Robotics
SP - 571
EP - 583
BT - Distributed Autonomous Robotic Systems - The 10th International Symposium, DARS 2010
T2 - 10th International Symposium on Distributed Autonomous Robotic Systems, DARS 2010
Y2 - 1 November 2010 through 3 November 2010
ER -