Departmental Papers (ESE)


We propose an event-driven algorithm for the control of simple robot assembly problems based on noncooperative game theory. We examine rigorously the simplest setting — three bodies with one degree of freedom and offer extensive simulations for the 2 DOF extension. The initial analysis and the accompanying simulations suggest that this approach may indeed, offer an attractive means of building robust event driven assembly systems.

Document Type

Journal Article

Subject Area

GRASP, Kodlab

Date of this Version

January 2001


Reprinted from Robotica, Volume 19, Issue 1, January 2001, pages 87-93.

NOTE: At the time of publication, the author, 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.


noncooperative game, robot assembly, event driven assembly



Date Posted: 03 April 2008

This document has been peer reviewed.