Occlusion based Cooperative Transport
Aadesh
Presentation Structure
- Problem Definition
- Solution Categories
- Pushing
- Pulling
- Caging
- Occlusion Based
- Implementation
- 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
Cooperative-Transport
- 803