Occlusion based Cooperative Transport

Aadesh

Presentation Structure

  1. Problem Definition
  2. Solution Categories
    1. Pushing
    2. Pulling
    3. Caging
  3. Occlusion Based
  4. Implementation
  5. Demo

Cooperative Transport

Cooperative Transport

http://www.weizmann.ac.il/complex/feinerman/research-activities

Cooperative Transport

Pulling

University of Pennsylvania

Cooperative Transport

Pushing

Swarm-bots

Cooperative Transport

Caging

Natural Robotics Lab, The University of Sheffield

Occlusion Based Cooperative Transport

Occlusion-Based Cooperative Transport with a Swarm of Miniature Mobile Robots

Occlusion Based Cooperative Transport

Occlusion-Based Cooperative Transport with a Swarm of Miniature Mobile Robots

Occlusion Based Cooperative Transport

Convergence

 

 

$$\lim_{t \rightarrow \infty} \textbf{c} \cdot \textbf{F} = \lim_{t \rightarrow \infty} (b_xc_y - b_yc_x) - (a_xc_y - a_yc_x)$$

Occlusion-Based Cooperative Transport with a Swarm of Miniature Mobile Robots

Implementation

$$\dot{x} = \frac{R}{2} (v_r + v_l) \cos \phi$$
$$\dot{y} = \frac{R}{2} (v_r + v_l) \sin \phi$$
$$\dot{\phi} = \frac{R}{2} (v_r + v_l)$$

https://www.anki.com/en-us/cozmo

Implementation

Controller

Demo 1

Demo 2

Thank You!

Cooperative-Transport

By Aadesh Neupane