Feedback-Based Event-Driven Parts Moving

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dc.contributor.authorKaragöz, Cem Serkan
dc.contributor.authorKoditschek, Daniel E
dc.contributor.authorKoditschek, Daniel E
dc.date2023-05-16T22:30:20.000
dc.date.accessioned2023-05-22T19:06:13Z
dc.date.available2023-05-22T19:06:13Z
dc.date.issued2004-12-01
dc.date.submitted2005-06-01T14:50:08-07:00
dc.description.abstractA collection of unactuated disk-shaped "parts" must be brought by an actuated manipulator robot into a specified configuration from arbitrary initial conditions. The task is cast as a noncooperative game played among the parts—which in turn yields a feedback-based event-driven approach to plan generation and execution. The correctness of this approach, an open question, has been demonstrated in simpler settings and is further suggested by the extensive experiments reported here using an actual working implementation with EDAR—a mobile robot operating in a purely feedback-based event-driven manner. These results verify the reliability of this approach against uncertainties in sensory information and unanticipated changes in workspace configuration.
dc.description.commentsCopyright 2004 IEEE. Reprinted from <i>IEEE Transactions on Robotics</i>, Volume 20, Issue 6, December 2004, pages 1012-1018. <br><br> This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it. <br><br>NOTE: At the time of publication, author Daniel Koditschek was affiliated with the University of Michigan. Currently (August 2005), he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania.
dc.description.comments<br>Copyright 2004 IEEE. Reprinted from <i>IEEE Transactions on Robotics</i>, Volume 20, Issue 6, December 2004, pages 1012-1018. <br><br> This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it. <br><p> <br><br>NOTE: At the time of publication, author Daniel Koditschek was affiliated with the University of Michigan. Currently (June 2005), he is a faculty member in the Department of Electrical and Systems ENgineering at the University of Pennsylvania.<br><p>
dc.identifier.urihttps://repository.upenn.edu/handle/20.500.14332/33314
dc.legacy.articleid1129
dc.legacy.fulltexturlhttps://repository.upenn.edu/cgi/viewcontent.cgi?article=1129&amp;context=ese_papers&amp;unstamped=1
dc.source.issue133
dc.source.journalDepartmental Papers (ESE)
dc.source.peerreviewedtrue
dc.source.statuspublished
dc.subject.otherGRASP
dc.subject.otherKodlab
dc.subject.otherartificial potential functions
dc.subject.otherautonomous robots
dc.subject.othergame theory
dc.subject.otherparts rearrangement
dc.titleFeedback-Based Event-Driven Parts Moving
dc.typeArticle
digcom.contributor.authorKaragöz, Cem Serkan
digcom.contributor.authorBozma, H. Isil
digcom.contributor.authorisAuthorOfPublication|email:kod@seas.upenn.edu|institution:University of Pennsylvania|Koditschek, Daniel E
digcom.identifierese_papers/133
digcom.identifier.contextkey74153
digcom.identifier.submissionpathese_papers/133
digcom.typearticle
dspace.entity.typePublication
relation.isAuthorOfPublicationb6e8657c-2331-43df-97c3-92e79f74a7be
relation.isAuthorOfPublicationb6e8657c-2331-43df-97c3-92e79f74a7be
relation.isAuthorOfPublication.latestForDiscoveryb6e8657c-2331-43df-97c3-92e79f74a7be
upenn.schoolDepartmentCenterDepartmental Papers (ESE)
upenn.schoolDepartmentCenterGeneral Robotics, Automation, Sensing and Perception Laboratory
upenn.schoolDepartmentCenterKod*lab
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