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Assembly as a noncooperative game of its pieces: analysis of 1D sphere assemblies.

Robotica, January 2001

H. Isil Bozma*, Daniel E. Koditschek†
*: Boğaziši University
†: University of Michigan

Full PDF | Penn ScholarlyCommons

Abstract
      We propose an event-driven algorithm for the control of simple robot assembly problems based on noncooperative game theory. We examine igorously the simplest setting &mdash three bodies with one degree of freedom and offer extensive simulations for the 2 DOF extension. The initial analysis and the accompanying simulations suggest that this approach may indeed, offer an attractive means of building robust event driven assembly systems.
BibTeX entry
@article{isil2001assembly,
  title={{Assembly as a noncooperative game of its pieces: analysis of 1D sphere assemblies}},
  author={Isil Bozma, H. and Koditschek, D.E.},
  journal={Robotica},
  volume={19},
  number={01},
  pages={93--108},
  year={2001},
  publisher={Cambridge Univ Press}
}

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