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Safe Cooperative Robotic Patterns via Dynamics on Graphs

International Symposium on Robotics Research, 1998

R. W. Ghrist* and D. E. Koditschek
*:Department of Mathematics, The University of Texas at Austin
†: Department of Electrical Engineering and Computer Science, The University of Michigan
Full PDF | Penn Scholarly Commons

Abstract
       This paper explores the possibility of using vector fields to design and implement reactive schedules for safe cooperative robot patterns on graphs. The word “safe” means that obstacles - designated illegal portions of the configuration space - are avoided. The word “cooperative” connotes situations wherein physically distributed agents are collectively responsible for executing the schedule. The word “pattern” refers to tasks that cannot be encoded simply in terms of a point goal in the configuration space. The word “reactive” will be interpreted as requiring that the desired pattern be asymptotically stable: conditions close but slightly removed from those desired remain close and converge toward the desired pattern.
       We consider Automated Guided Vehicles (AGV’s) operating upon a prede fined network of pathways, contrasting the simple cases of locally Euclidean con figuration spaces with the more topologically intricate non-manifold cases. The focus of the present inquiry is the achievement of safe cooperative patterns by means of a succession of edge point fi elds combined with a circulating field to regularize collisions at non-manifold vertices.
BibTeX entry
@article{Ghrist-ISRR-2002,
  author     = {Robert W. Ghrist and Daniel E. Koditschek},
  title      = {Safe Cooperative Robot Patterns via Dynamics on Graphs},
  journal    = {The International Symposium on Robotics Research},
  year       = {1998},
}

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