Pusher-Watcher: An Approach to Fault-Tolerant Tightly-Coupled Robot Coordination

@inproceedings{Gerkey2002PusherWatcherAA,
  title={Pusher-Watcher: An Approach to Fault-Tolerant Tightly-Coupled Robot Coordination},
  author={Brian P. Gerkey and Maja J. Mataric},
  booktitle={ICRA},
  year={2002}
}
We present a distributed planar object manipulation algorithm inspired by human behavior. The system, which we callpusher-watcher, enables the cooperative manipulation of large objects by teams of autonomous mobile robots. The robots are not equipped with gripping devices, but instead move objects by pushing against them. The pusher robots have no global positioning information, and cannot see over the object; thus a w tcher robot has the responsibility for leading the team (and object) to the… CONTINUE READING

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