Improvement of distributed control algorithms for robots carrying an object

Yuichi Asahiro, Hajime Asama, Ichiro Suzuki, Masafumi Yamashita

Research output: Contribution to journalConference article

2 Citations (Scopus)

Abstract

We consider the problem of moving a pair of omnidirectional robots carrying a ladder between start and goal positions in a obstacle-free plane as quickly as possible, using a distributed algorithm in which each robot decides its motion individually. In this paper we propose a modification to an existing algorithm for this problem and examine the performance of the resulting algorithm by computer simulation. The simulation results indicate that the resulting algorithm performs better in terms of time than the previous algorithms in certain situations, and nearly as well in most other cases.

Original languageEnglish
Pages (from-to)VI-608 - VI-613
JournalProceedings of the IEEE International Conference on Systems, Man and Cybernetics
Volume6
Publication statusPublished - Dec 1 1999
Event1999 IEEE International Conference on Systems, Man, and Cybernetics 'Human Communication and Cybernetics' - Tokyo, Jpn
Duration: Oct 12 1999Oct 15 1999

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Robots
Ladders
Parallel algorithms
Computer simulation

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Hardware and Architecture

Cite this

Improvement of distributed control algorithms for robots carrying an object. / Asahiro, Yuichi; Asama, Hajime; Suzuki, Ichiro; Yamashita, Masafumi.

In: Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, Vol. 6, 01.12.1999, p. VI-608 - VI-613.

Research output: Contribution to journalConference article

Asahiro, Yuichi ; Asama, Hajime ; Suzuki, Ichiro ; Yamashita, Masafumi. / Improvement of distributed control algorithms for robots carrying an object. In: Proceedings of the IEEE International Conference on Systems, Man and Cybernetics. 1999 ; Vol. 6. pp. VI-608 - VI-613.
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