Relaxation times in motion of group robots without specific sensors for mutual information

Author

Itami, Teturo

Author_Institution

Dept. of Mech. & Robot., Hiroshima Int. Univ., Hiroshima, Japan

fYear

2011

fDate

13-18 Sept. 2011

Firstpage

346

Lastpage

351

Abstract

Relaxation times are predicted in systems where sensorless robots carry objects only by collision in a closed region. According to continuum mechanical model to describe the systems, we explicitly calculate governing equation of a one body distribution function of robots. Eigenvalue analysis with numerical calculation are given to correctly predict relaxation times that play a role of dead times in controlling motion of the object. According to the results obtained, guidelines for appropriately designing various parameters that govern the system are given.

Keywords

collision avoidance; continuum mechanics; cooperative systems; eigenvalues and eigenfunctions; mobile robots; motion control; multi-robot systems; collision avoidance; continuum mechanical model; dead times; distribution function; eigenvalue analysis; group robots; motion control; mutual information; numerical calculation; relaxation times; sensorless robots; Collision avoidance; Eigenvalues and eigenfunctions; Mathematical model; Robot kinematics; Robot sensing systems; Liouville equation; aimless motion of robots; dead times in control; one body distribution function; potential force acting only on robots; relaxation times in distribution functions;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE Annual Conference (SICE), 2011 Proceedings of

Conference_Location

Tokyo

ISSN

pending

Print_ISBN

978-1-4577-0714-8

Type

conf

Filename

6060677