### 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 |
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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) |
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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 |
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Country | Germany |

City | Dagstuhl Castle |

Period | 9/28/98 → 10/2/98 |

### Fingerprint

### All Science Journal Classification (ASJC) codes

- Theoretical Computer Science
- Computer Science(all)

### Cite this

*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.

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

*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.

}

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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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 -