The task that was studied is this:
- There's an object that will be carried from one start position (x, y, teta) to one final position (x, y, teta)
- There's some mobile homogeneous robots that cooperate for the task
- These robots must not exchange information in an explicit way during the task
- All the robots use a behavior-based planner
In this case the shared object that the robots need for having implicit information is just the object being carry. Infact:
- All the robots support the weight of the object
- Each robot effects a stable grasping on the object along his edge
- Each robot have an force handler
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