DocumentCode
315530
Title
Dynamic robot planning: cooperation through competition
Author
Large, Edward W. ; Christensen, Henrik I. ; Bajcsy, Ruzena
Author_Institution
GRASP Lab., Pennsylvania Univ., Philadelphia, PA, USA
Volume
3
fYear
1997
fDate
20-25 Apr 1997
Firstpage
2306
Abstract
We address scaling of the “dynamic systems” approach for robot planning to multi-agent cooperation. To accommodate this extension it is necessary to carefully consider how individual behaviors contribute to the vector field. To avoid spurious minima and related problems a competition dynamics is introduced and its stability is analyzed. A system of two cooperating agents is designed, and examples are presented to illustrate the utility of this approach
Keywords
cooperative systems; intelligent control; mobile robots; path planning; stability; competition dynamics; cooperating agents; dynamic robot planning; dynamic systems approach; individual behaviors; multi-agent cooperation; vector field; Computational geometry; Control systems; Kinematics; Laboratories; Navigation; Orbital robotics; Robots; Solid modeling; Stability analysis; State-space methods;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location
Albuquerque, NM
Print_ISBN
0-7803-3612-7
Type
conf
DOI
10.1109/ROBOT.1997.619306
Filename
619306
Link To Document