Distributed control for a modular, reconfigurable cliff robot

We have developed a cliff robot that is capable of descending a cliff and autonomously navigating to way-points on the cliff wall. This aggressive mobility system consists of an ensemble of three tethered robots, which cooperate under tight coordinated control and collective state estimation. The di...

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Veröffentlicht in:	Proceedings - IEEE International Conference on Robotics and Automation 2002, Vol.4, p.4083-4088 vol.4
Hauptverfasser:	Pirjanian, P., Leger, C., Mumm, E., Kennedy, B., Garrett, M., Aghazarian, H., Farritor, S., Schenker, P.
Format:	Artikel
Sprache:	eng
Schlagworte:	Communication system control Connectors Control systems Distributed control Laboratories Legged locomotion Mechanical engineering Propulsion Robot kinematics Robot sensing systems
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