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Optimization criterion for safety task transfer in cooperative robotics
dc.contributor.author | Hernansanz Prats, Alberto |
dc.contributor.author | Amat Girbau, Josep |
dc.contributor.author | Casals Gelpí, Alicia |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
dc.contributor.other | Institut de Bioenginyeria de Catalunya |
dc.date.accessioned | 2010-10-14T11:50:13Z |
dc.date.available | 2010-10-14T11:50:13Z |
dc.date.created | 2009 |
dc.date.issued | 2009 |
dc.identifier.citation | Hernansanz, 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.identifier.uri | http://hdl.handle.net/2117/9693 |
dc.description.abstract | This 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.extent | 6 p. |
dc.language.iso | eng |
dc.rights | Attribution-NonCommercial-NoDerivs 3.0 Spain |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
dc.subject | Àrees temàtiques de la UPC::Informàtica |
dc.subject.lcsh | Computer science |
dc.title | Optimization criterion for safety task transfer in cooperative robotics |
dc.type | Conference report |
dc.subject.lemac | Informàtica |
dc.contributor.group | Universitat Politècnica de Catalunya. GRINS - Grup de Recerca en Robòtica Intel·ligent i Sistemes |
dc.relation.publisherversion | http://www.icar2009.org/ |
dc.rights.access | Open Access |
local.identifier.drac | 2628427 |
dc.description.version | Postprint (published version) |
local.citation.author | Hernansanz, A.; Amat, J.; Casals, A. |
local.citation.contributor | International Conference on Advanced Robotics |
local.citation.pubplace | Munich |
local.citation.publicationName | 14th International Conference on Advanced Robotics |
local.citation.startingPage | 1 |
local.citation.endingPage | 6 |