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dc.contributor.authorHernansanz Prats, Alberto
dc.contributor.authorAmat Girbau, Josep
dc.contributor.authorCasals Gelpi, Alicia
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.contributor.otherInstitut de Bioenginyeria de Catalunya
dc.identifier.citationHernansanz, A.; Amat, J.; Casals, A. Optimization criterion for safety task transfer in cooperative robotics. A: International Conference on Advanced Robotics. "14th International Conference on Advanced Robotics". Munich: 2009, p. 1-6.
dc.description.abstractThis paper presents a strategy for a cooperative multirobot system, constituting a Virtual Robot. The Virtual Robot is composed of a set of robotic arms acting as only one, transferring the execution of a teleoperated task from one to another when necessary. To decide which of the robots is the most suitable to execute the task at every instant, a multiparametric decision function has been defined. This function is based on a set of intrinsic and extrinsic evaluation indexes of the robot. Since the internal operation of the Virtual Robot must be transparent to the user, a control architecture has been developed.
dc.format.extent6 p.
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.subjectÀrees temàtiques de la UPC::Informàtica
dc.subject.lcshComputer science
dc.titleOptimization criterion for safety task transfer in cooperative robotics
dc.typeConference report
dc.contributor.groupUniversitat Politècnica de Catalunya. GRINS - Grup de Recerca en Robòtica Intel·ligent i Sistemes
dc.rights.accessOpen Access
dc.description.versionPostprint (published version)
local.citation.authorHernansanz, A.; Amat, J.; Casals, A.
local.citation.contributorInternational Conference on Advanced Robotics
local.citation.publicationName14th International Conference on Advanced Robotics

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