DocumentCode :
2240952
Title :
Capturing a convex object with three discs
Author :
Erickson, Jeff ; Thite, Shripad ; Rothganger, Fred ; Ponce, Jean
Author_Institution :
Dept. of Comput. Sci., Illinois Univ., Urbana, IL, USA
Volume :
2
fYear :
2003
fDate :
14-19 Sept. 2003
Firstpage :
2242
Abstract :
This paper addresses the problem of capturing an arbitrary convex object P in the plane with three congruent disc-shaped robots. Given two stationary robots in contact with P, we characterize the set of positions of a third robot that prevent P from escaping to infinity and show that the computation of this so-called capture region reduces to the resolution of a visibility problem. We present two algorithms for solving this problem and computing the capture region when P is a polygon and the robots are points (zero-radius discs). The first algorithm is exact and has polynomial-time complexity. The second one uses simple hidden-surface removal techniques from computer graphics to output an arbitrarily accurate approximation of the capture region; it has been implemented and examples are presented.
Keywords :
computational complexity; computer graphics; control system analysis computing; mobile robots; multi-robot systems; capture region characterization; capture region computation; computer graphics; congruent disc shaped robots; convex object capture; hidden surface removal techniques; polynomial time complexity; Computer graphics; Computer science; Fixtures; Grippers; H infinity control; Kinematics; Mobile robots; Polynomials; Robot sensing systems; Robotics and automation;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
ISSN :
1050-4729
Print_ISBN :
0-7803-7736-2
Type :
conf
DOI :
10.1109/ROBOT.2003.1241927
Filename :
1241927
Link To Document :
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