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 |
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All Science Journal Classification (ASJC) codes
- Theoretical Computer Science
- Computer Science(all)
Cite this
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
}
TY - GEN
T1 - Distributed algorithms for carrying a ladder by omnidirectional robots in near optimal time
AU - Asahiro, Yuichi
AU - Asama, Hajime
AU - Fujita, Satoshi
AU - Suzuki, Ichiro
AU - Yamashita, Masafumi
PY - 1999/1/1
Y1 - 1999/1/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84956984708&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84956984708&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84956984708
SN - 3540669337
SN - 9783540669333
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 240
EP - 254
BT - Sensor Based Intelligent Robots - International Workshop, Selected Papers
A2 - Noltemeier, Hartmut
A2 - Bunke, Horst
A2 - Christensen, Henrik I.
PB - Springer Verlag
ER -