Departmental Papers (ESE)

Feedback-Based Event-Driven Parts Moving

Cem Serkan Karagöz, Bogaziçi University
H. Isil Bozma, Bogaziçi University,
Daniel E. Koditschek, University of Pennsylvania

Document Type Journal Article

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

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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


Date Posted: 08 January 2008

This document has been peer reviewed.