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RI | Publications | Visually Guided Coordination for Distributed Precision Assembly
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Visually Guided Coordination for Distributed Precision Assembly
M. Chen, S. Kume, A. Rizzi, and R. Hollis
IEEE International Conference on Robotics and Automation 2000, Vol. 2, April, 2000, pp. 1651 - 1656.
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| Abstract |
We document our initial efforts to instantiate visually-guided cooperative behaviors between robotic agents in the minifactory environment. The minifactory incorporates high-precision, 2-DOF robotic agents to perform micron-level precision 4-DOF assembly tasks. Here we utilize two minifactory agents to perform visual servoing. We present a detailed description of the control and communication systems used to coordinate the agents. To provide a suitable communications infrastructure, we describe the development of a new interagent communication system which uses low-latency protocols carried by a commercial 100 Mb Ethernet network. Finally, we conclude by presenting experimental results front our first coordinated multi-agent task, the visually guided positioning of a small medical device.
| Notes |
Associated lab/group: Microdynamic Systems Laboratory
| Text Reference |
M. Chen, S. Kume, A. Rizzi, and R. Hollis, "Visually Guided Coordination for Distributed Precision Assembly," IEEE International Conference on Robotics and Automation 2000, Vol. 2, April, 2000, pp. 1651 - 1656.
| BibTeX Reference |
@inproceedings{Chen_2000_3485,
author = "Michael Chen and Shinji Kume and Alfred Rizzi and Ralph Hollis",
title = "Visually Guided Coordination for Distributed Precision Assembly",
booktitle = "IEEE International Conference on Robotics and Automation 2000",
month = "April",
year = "2000",
volume = "2",
pages = "1651 - 1656"
}