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Test-Environment based on a Team of Miniature Walking Robots for Evaluation of Collaborative Control Methods

Weissel, Florian; Huber, Marco F.; Hanebeck, Uwe D.


For the collaborative control of a team of robots, a set of well-suited high-level control algorithms, especially for path planning and measurement scheduling, is essential. The quality of these control algorithms can be significantly increased by considering uncertainties that arise, e.g. from noisy measurements or system model abstraction, by incorporating stochastic filters into the control. To develop these kinds of algorithms and to prove their effectiveness, obviously real-world experiments with real world uncertainties are mandatory. Therefore, a test-environment for evaluating algorithms for collaborative control of a team of robots is presented. This test-environment is founded on miniature walking robots with six degrees of freedom. Their novel locomotion concept not only allows them to move in a wide variety of different motion patterns far beyond the possibilities of traditionally employed wheel-based robots, but also to handle real-world conditions like uneven ground or small obstacles. These robots are embedded in a modular test-environment, comprising infrastructure and simulation modules as well as a high-level control module with submodules for pose estimation, path planning, and measurement scheduling. ... mehr

Volltext §
DOI: 10.5445/IR/1000034827
DOI: 10.1109/IROS.2007.4399193
Zitationen: 8
Cover der Publikation
Zugehörige Institution(en) am KIT Fakultät für Informatik – Institut für Anthropomatik (IFA)
Publikationstyp Proceedingsbeitrag
Publikationsjahr 2007
Sprache Englisch
Identifikator ISBN: 978-1-4244-0912-9
KITopen-ID: 1000034827
Erschienen in Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2007),San Diego, California, USA, November, 2007
Verlag Institute of Electrical and Electronics Engineers (IEEE)
Seiten 2474-2479
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