Adaptive mobile charging stations for multi-robot systems

We consider systems of mobile robots that execute a transportation task and periodically recharge from a docking station. The location of the docking station has a considerable effect on task performance. In nonstationary tasks the optimal dock location may vary over the length of the task. In multi...

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Bibliographic Details
Published in2009 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 1363 - 1368
Main Authors Couture-Beil, A., Vaughan, R.T.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2009
Subjects
Energy capture
Intelligent robots
Interference
Mobile robots
Multirobot systems
Prototypes
Runtime
System performance
Transportation
USA Councils
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ISBN9781424438037
1424438039
ISSN2153-0858
DOI10.1109/IROS.2009.5354816

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Summary:We consider systems of mobile robots that execute a transportation task and periodically recharge from a docking station. The location of the docking station has a considerable effect on task performance. In nonstationary tasks the optimal dock location may vary over the length of the task. In multiple-robot systems, spatial interference between charging and working robots can make it difficult to find an optimal dock location, even in static tasks. We propose a new approach whereby the dock is itself an autonomous robot that attempts to incrementally improve its location. We show simulation results from a simple local controller that adapts to nonstationary tasks and spatial interference, and thus improves overall task performance compared to a static dock.
ISBN:9781424438037
1424438039
ISSN:2153-0858
DOI:10.1109/IROS.2009.5354816