Departmental Papers (ESE)


A 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.

Document Type

Journal Article

Subject Area

GRASP, Kodlab

Date of this Version

December 2004


Copyright 2004 IEEE. Reprinted from IEEE Transactions on Robotics, Volume 20, Issue 6, December 2004, pages 1012-1018.

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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.


artificial potential functions, autonomous robots, game theory, parts rearrangement



Date Posted: 04 August 2005

This document has been peer reviewed.