Centralized motion planning for a group of micro agents manipulating a rigid object

Grigoris Lionis, Kostas J. Kyriakopoulos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publicationProceedings of the 20th IEEE International Symposium on Intelligent Control, ISIC '05 and the 13th Mediterranean Conference on Control and Automation, MED '05
Pages662-667
Number of pages6
DOIs
StatePublished - 2005
Event20th IEEE International Symposium on Intelligent Control, ISIC '05 and the13th Mediterranean Conference on Control and Automation, MED '05 - Limassol, Cyprus
Duration: Jun 27 2005Jun 29 2005

Publication series

NameProceedings of the 20th IEEE International Symposium on Intelligent Control, ISIC '05 and the 13th Mediterranean Conference on Control and Automation, MED '05
Volume2005

Other

Other20th IEEE International Symposium on Intelligent Control, ISIC '05 and the13th Mediterranean Conference on Control and Automation, MED '05
Country/TerritoryCyprus
CityLimassol
Period6/27/056/29/05

ASJC Scopus subject areas

  • Engineering(all)

Fingerprint

Dive into the research topics of 'Centralized motion planning for a group of micro agents manipulating a rigid object'. Together they form a unique fingerprint.

Cite this