TY - GEN
T1 - Centralized motion planning for a group of micro agents manipulating a rigid object
AU - Lionis, Grigoris
AU - Kyriakopoulos, Kostas J.
PY - 2005
Y1 - 2005
N2 - In the past few years, research on micro-robotic systems has flourished. Technological limits are being constantly broken and the size of micro-robots is being reduced year after year. In these sizes,a number of control problems arise, which are much more important than in the field of 'macro'-robotic systems.Among these are the limited computational, sensing and acting capabilities of micro-robots, the influence of adhesion forces, the large number of simultaneously acting robots e.t.c. In this work, we are studying aspects of the problem of cooperative-multiagent manipulation of a rigid body, constrained by micro-robot limitations. We model the object-agent contact as a 'ball and socket' joint, and the agents as unicycles. The object of our study is to find algorithms for breaking a given object trajectory into agent control inputs.These algorithms should be simple(i.e. computationally tractable),and should scale up well with the number of agents.
AB - In the past few years, research on micro-robotic systems has flourished. Technological limits are being constantly broken and the size of micro-robots is being reduced year after year. In these sizes,a number of control problems arise, which are much more important than in the field of 'macro'-robotic systems.Among these are the limited computational, sensing and acting capabilities of micro-robots, the influence of adhesion forces, the large number of simultaneously acting robots e.t.c. In this work, we are studying aspects of the problem of cooperative-multiagent manipulation of a rigid body, constrained by micro-robot limitations. We model the object-agent contact as a 'ball and socket' joint, and the agents as unicycles. The object of our study is to find algorithms for breaking a given object trajectory into agent control inputs.These algorithms should be simple(i.e. computationally tractable),and should scale up well with the number of agents.
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U2 - 10.1109/.2005.1467093
DO - 10.1109/.2005.1467093
M3 - Conference contribution
AN - SCOPUS:33745196504
SN - 0780389360
SN - 9780780389366
T3 - Proceedings of the 20th IEEE International Symposium on Intelligent Control, ISIC '05 and the 13th Mediterranean Conference on Control and Automation, MED '05
SP - 662
EP - 667
BT - Proceedings of the 20th IEEE International Symposium on Intelligent Control, ISIC '05 and the 13th Mediterranean Conference on Control and Automation, MED '05
T2 - 20th IEEE International Symposium on Intelligent Control, ISIC '05 and the13th Mediterranean Conference on Control and Automation, MED '05
Y2 - 27 June 2005 through 29 June 2005
ER -