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Feedback-Based Event-Driven Parts Moving

IEEE Transactions on Robotics, 2004

C. S. Karagoz*, H. I. Bozma*, and D. E. Koditschek
*: Intelligent Systems Laboratory, Bogazici University
‡: Artificial Intelligence Laboratory, Electrical Engineering and Computer Science Department, College of Engineering, University of Michigan

Full PDF | Scholarly Commons

Abstract
      A collection of unactuated disk-shaped “parts” must be brought by an actuated manipulator robot into a specified configuration from arbitrary initial conditions. The task is cast as a noncooperative game played among the parts—which in turn yields a feedback-based event driven approach to plan generation and execution. The correctness of this approach, an open question, has been demonstrated in simpler settings and is further suggested by the extensive experiments reported here using an actual working implementation with EDAR—a mobile robot operating in a purely feedback-based event-driven manner. These results verify the reliability of this approach against uncertainties in sensory information and unanticipated changes in workspace configuration.
BibTeX Entry
@article{
	location = {http://www.scientificcommons.org/7594790},
	title = {Feedback-Based Event-Driven Parts Moving},
	author = {Karagöz, Cem Serkan and Bozma, H. Isil and Koditschek, Daniel E},
	year = {2004},
	keywords = {artificial potential functions, autonomous robots, game theory, parts rearrangement},
	abstract = {A collection of unactuated disk-shaped "parts" must be brought by an actuated manipulator robot into a 
        specified configuration from arbitrary initial conditions. The task is cast as a noncooperative game played among the             
        parts--which in turn yields a feedback-based event-driven approach to plan generation and execution. The correctness of  
        this approach, an open question, has been demonstrated in simpler settings and is further suggested by the extensive 
        experiments reported here using an actual working implementation with EDAR--a mobile robot operating in a purely 
        feedback-based event-driven manner. These results verify the reliability of this approach against uncertainties in 
        sensory information and unanticipated changes in workspace configuration.},
	publisher = {ScholarlyCommons@Penn},
	url = {http://repository.upenn.edu/ese_papers/133},
	institution = {ScholarlyCommons@Penn [http://repository.upenn.edu/cgi/oai2.cgi] (United States)},
}

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