Distributed algorithms for carrying a ladder by omnidirectional robots in near optimal time

Yuichi Asahiro, Hajime Asama, Satoshi Fujita, Ichiro Suzuki, Masafumi Yamashita

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Consider two omnidirectional robots carrying a ladder, one at each end, in the plane without obstacles. Given start and goal positions of the ladder, what is a time-optimal motion of the robots subject to given constraints on their kinematics such as maximum acceleration and velocity? Using optimal control theory, Chen, Suzuki and Yamashita solved this problem under a kinematic constraint that the speed of each robot must be either 0 or a given constant v at any moment during the motion. Their solution, which requires complicated calculation, is centralized and off-line. The objective of this paper is to demonstrate that even without the complicated calculation, a motion that is sufficiently close to time-optimal can be obtained using a simple distributed algorithm in which each robot decides its motion individually based on the current and goal positions of the ladder.

Original languageEnglish
Title of host publicationSensor Based Intelligent Robots - International Workshop, Selected Papers
EditorsHartmut Noltemeier, Horst Bunke, Henrik I. Christensen
PublisherSpringer Verlag
Pages240-254
Number of pages15
ISBN (Print)3540669337, 9783540669333
Publication statusPublished - Jan 1 1999
Event3rd International Workshop on Modelling and Integration of Sensor Based Intelligent Robot Systems, 1998 - Dagstuhl Castle, Germany
Duration: Sep 28 1998Oct 2 1998

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume1724
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other3rd International Workshop on Modelling and Integration of Sensor Based Intelligent Robot Systems, 1998
CountryGermany
CityDagstuhl Castle
Period9/28/9810/2/98

All Science Journal Classification (ASJC) codes

  • Theoretical Computer Science
  • Computer Science(all)

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