A perceptive reference frame for cooperative and reconfigurable multi-robot systems

This paper presents an analysis and design method for human/robot integrated systems, especially for the cooperative sensing and operation of human and robot formations in human centered environments. The key for the human/robot formation integrated system is to create a common motion reference that can be understood by both human and the robots in the formation. The perceptive reference frame is introduced and the characteristics of perceptive frame are compared with time based reference frame. The applications of perceptive reference frame to multi-agents coordination in a human/mobile manipulators coordination are then discussed. Simulations and experiments have been used to verify the theoretical results. Copyright © 2005 IFAC