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

Lionis, G; Kyriakopoulos, KJ

dc.contributor.author	Lionis, G	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T02:43:10Z
dc.date.available	2014-03-01T02:43:10Z
dc.date.issued	2005	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/31264
dc.subject	Adhesion Force	en
dc.subject	Control Problem	en
dc.subject	Motion Planning	en
dc.subject	Rigid Body	en
dc.subject	Scaling Up	en
dc.subject.other	Algorithms	en
dc.subject.other	Computation theory	en
dc.subject.other	Multi agent systems	en
dc.subject.other	Problem solving	en
dc.subject.other	Remote sensing	en
dc.subject.other	Robotics	en
dc.subject.other	Agent control	en
dc.subject.other	Cooperative-multiagent manipulation	en
dc.subject.other	Macro-robotic	en
dc.subject.other	Micro-robots	en
dc.subject.other	Motion planning	en
dc.title	Centralized motion planning for a group of micro agents manipulating a rigid object	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/.2005.1467093	en
heal.identifier.secondary	http://dx.doi.org/10.1109/.2005.1467093	en
heal.identifier.secondary	1467093	en
heal.publicationDate	2005	en
heal.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. ©2005 IEEE.	en
heal.journalName	Proceedings of the 20th IEEE International Symposium on Intelligent Control, ISIC '05 and the 13th Mediterranean Conference on Control and Automation, MED '05	en
dc.identifier.doi	10.1109/.2005.1467093	en
dc.identifier.volume	2005	en
dc.identifier.spage	662	en
dc.identifier.epage	667	en