One of the frontiers in intelligent machine research is the understanding of how constructive cooperation among multiple autonomous agents can be effected. The effort at the Center for Engineering Systems Advanced Research (CESAR) at the Oak Ridge National Laboratory (ORNL) focuses on two problem areas: (1) cooperation by multiple mobile robots in dynamic, incompletely known environments; and (2) cooperating robotic manipulators. Particular emphasis is placed on experimental evaluation of research and developments using the CESAR robot system testbeds, including three mobile robots, and a seven-axis, kinematically redundant mobile manipulator. This paper summarizes initial results of research addressing the decoupling of position and force control for two manipulators holding a common object, and the path planning for multiple robots in a common workspace.


    Access

    Access via TIB

    Check availability in my library


    Export, share and cite



    Title :

    Research and development at ORNL/CESAR towards cooperating robotic systems for hazardous environments


    Contributors:
    Mann, R. C. (author) / Fujimura, K. (author) / Unseren, M. A. (author)


    Publication date :

    1992-01-01


    Type of media :

    Conference paper


    Type of material :

    No indication


    Language :

    English




    Advanced Vision and Robotic Systems for Hazardous Environments

    British Library Conference Proceedings | 1995



    Robot Navigation Research at CESAR (Center for Engineering Systems Advanced Research)

    D. L. Barnett / G. de Saussure / F. G. Pin et al. | NTIS | 1989



    Design of wireless robotic system for rescue operation in hazardous environments

    Hussain, Shaik Asif / Hasan, Raza / Mahmood, Salman et al. | BASE | 2020

    Free access