A Perceptive Reference Frame for Cooperative and Reconfigurable Multi-robot Systems
Abstract
This paper presents an analysis and design method for human/robotintegrated systems, especially for the cooperative sensing andoperation of human and robot formations in human centeredenvironments. The key for the human/robot formation integratedsystem is to create a common motion reference that can beunderstood by both human and the robots in the formation. Theperceptive reference frame is introduced and the characteristicsof perceptive frame are compared with time based reference frame.The applications of perceptive reference frame to multi-agentscoordination in a human/mobile manipulators coordination are thendiscussed. Simulations and Experiments have been used to verifythe theoretical results.
