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
N1 - Publisher Copyright:
© Springer-Verlag Berlin Heidelberg 1999.
Copyright:
Copyright 2020 Elsevier B.V., All rights reserved.
PY - 1999
Y1 - 1999
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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U2 - 10.1007/10705474_13
DO - 10.1007/10705474_13
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 - Christensen, Henrik I.
A2 - Bunke, Horst
A2 - Noltemeier, Hartmut
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 -