Departmental Papers (ESE)


EDAR (event-driven assembler robot) — a mobile robot capable of moving a collection of disk-shaped parts located on a two-dimensional workspace from an arbitrary initial configuration to a desired configuration while avoiding collisions in a purely reactive manner, is presented. Since EDAR uses a higher-level scheduler to switch among the subtasks of moving individual parts, it is viewed as mediating a noncooperative game played among the parts.

Document Type

Journal Article

Subject Area

GRASP, Kodlab

Date of this Version

January 2002


Copyright 2002 IEEE. Reprinted from IEEE Electronics Letters, Volume 38, Issue 3, January 2002, pages 147-148.

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NOTE: At the time of publication, Daniel Koditschek was affiliated with the University of Michigan. Currently, he is a faculty member of the School of Engineering at the University of Pennsylvania.



Date Posted: 13 March 2008

This document has been peer reviewed.