Learning Environment Constraints in Collaborative Robotics: A Decentralized Leader-Follower Approach
Monimoy Bujarbaruah,Yvonne R. Stürz,Conrad Holda,Karl H. Johansson,Francesco Borrelli,Monimoy Bujarbaruah,Yvonne R. Stürz,Conrad Holda,Karl H. Johansson,Francesco Borrelli
In this paper, we propose a leader-follower hierarchical strategy for two robots collaboratively transporting an object in a partially known environment with obstacles. Both robots sense the local surrounding environment and react to obstacles in their proximity. We consider no explicit communication, so the local environment information and the control actions are not shared between the robots. A...
