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.

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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

T2 - 3rd International Workshop on Modelling and Integration of Sensor Based Intelligent Robot Systems, 1998

Y2 - 28 September 1998 through 2 October 1998

ER -