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

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

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

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

Mathematical Informatics

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	Sensor Based Intelligent Robots - International Workshop, Selected Papers
Editors	Hartmut Noltemeier, Horst Bunke, Henrik I. Christensen
Publisher	Springer Verlag
Pages	240-254
Number of pages	15
ISBN (Print)	3540669337, 9783540669333
Publication status	Published - Jan 1 1999
Event	3rd International Workshop on Modelling and Integration of Sensor Based Intelligent Robot Systems, 1998 - Dagstuhl Castle, Germany Duration: Sep 28 1998 → Oct 2 1998

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	1724
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Other

Other	3rd International Workshop on Modelling and Integration of Sensor Based Intelligent Robot Systems, 1998
Country	Germany
City	Dagstuhl Castle
Period	9/28/98 → 10/2/98

All Science Journal Classification (ASJC) codes

Theoretical Computer Science
Computer Science(all)

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Cite this

Asahiro, Y., Asama, H., Fujita, S., Suzuki, I., & Yamashita, M. (1999). Distributed algorithms for carrying a ladder by omnidirectional robots in near optimal time. In H. Noltemeier, H. Bunke, & H. I. Christensen (Eds.), Sensor Based Intelligent Robots - International Workshop, Selected Papers (pp. 240-254). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 1724). Springer Verlag.

Distributed algorithms for carrying a ladder by omnidirectional robots in near optimal time. / Asahiro, Yuichi; Asama, Hajime; Fujita, Satoshi; Suzuki, Ichiro; Yamashita, Masafumi.

Sensor Based Intelligent Robots - International Workshop, Selected Papers. ed. / Hartmut Noltemeier; Horst Bunke; Henrik I. Christensen. Springer Verlag, 1999. p. 240-254 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 1724).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Asahiro, Y, Asama, H, Fujita, S, Suzuki, I & Yamashita, M 1999, Distributed algorithms for carrying a ladder by omnidirectional robots in near optimal time. in H Noltemeier, H Bunke & HI Christensen (eds), Sensor Based Intelligent Robots - International Workshop, Selected Papers. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 1724, Springer Verlag, pp. 240-254, 3rd International Workshop on Modelling and Integration of Sensor Based Intelligent Robot Systems, 1998, Dagstuhl Castle, Germany, 9/28/98.

Asahiro Y, Asama H, Fujita S, Suzuki I, Yamashita M. Distributed algorithms for carrying a ladder by omnidirectional robots in near optimal time. In Noltemeier H, Bunke H, Christensen HI, editors, Sensor Based Intelligent Robots - International Workshop, Selected Papers. Springer Verlag. 1999. p. 240-254. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

Asahiro, Yuichi ; Asama, Hajime ; Fujita, Satoshi ; Suzuki, Ichiro ; Yamashita, Masafumi. / Distributed algorithms for carrying a ladder by omnidirectional robots in near optimal time. Sensor Based Intelligent Robots - International Workshop, Selected Papers. editor / Hartmut Noltemeier ; Horst Bunke ; Henrik I. Christensen. Springer Verlag, 1999. pp. 240-254 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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