EDAR (event-driven assembler robot) — a mobile robot capable of moving a collection of disk-shaped parts located on a two-dimensional workspace from an arbitrary initial configuration to a desired configuration while avoiding collisions in a purely reactive manner, is presented. Since EDAR uses a higher-level scheduler to switch among the subtasks of moving individual parts, it is viewed as mediating a noncooperative game played among the parts.
a subsidiary of the Penn Engineering GRASP Lab