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Paper Abstract and Keywords
Presentation 2008-11-06 16:35
Distributed Coordinative Control for Unknown Work Load
Yuh Yamashita (Hokkaido Univ.) NLP2008-69
Abstract (in Japanese) (See Japanese page) 
(in English) In this paper, we consider a covering control problem for mobile robots. We propose a control method that cancels the effects of an unknown distributed disturbance and makes the mobile robots move to equalize the canceling loads of all robots. In the model of this paper, the distributed disturbance dynamically increases ``work loads'' to be treated by mobile robots, while in the model of Cortes et al., 2004, the work loads are given a priori by a known function. The control law of each mobile robot is derived by the passivity theory, and its feedback function consists of spatially local information. Simulation of the covering problem shows the effectiveness and some problems of the proposed method.
Keyword (in Japanese) (See Japanese page) 
(in English) Coordinative control / Covering control / Mobile robot / Passivity / / / /  
Reference Info. IEICE Tech. Rep., vol. 108, no. 276, NLP2008-69, pp. 65-70, Nov. 2008.
Paper # NLP2008-69 
Date of Issue 2008-10-30 (NLP) 
ISSN Print edition: ISSN 0913-5685    Online edition: ISSN 2432-6380
Copyright
and
reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
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Conference Information
Committee NLP  
Conference Date 2008-11-06 - 2008-11-06 
Place (in Japanese) (See Japanese page) 
Place (in English)  
Topics (in Japanese) (See Japanese page) 
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Paper Information
Registration To NLP 
Conference Code 2008-11-NLP 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Distributed Coordinative Control for Unknown Work Load 
Sub Title (in English)  
Keyword(1) Coordinative control  
Keyword(2) Covering control  
Keyword(3) Mobile robot  
Keyword(4) Passivity  
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1st Author's Name Yuh Yamashita  
1st Author's Affiliation Hokkaido University (Hokkaido Univ.)
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Speaker Author-1 
Date Time 2008-11-06 16:35:00 
Presentation Time 25 minutes 
Registration for NLP 
Paper # NLP2008-69 
Volume (vol) vol.108 
Number (no) no.276 
Page pp.65-70 
#Pages 6 
Date of Issue 2008-10-30 (NLP) 

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