Departmental Papers (ESE)


We propose an event-driven approach to planning and control of robot assembly problems using ideas from non-cooperative game theory. We report on the results of an extensive simulation study for a very simple two degree of freedom case - the arrangement of disks on a plane by a disk shaped robot.

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version

August 1995


Copyright 1995 IEEE. Reprinted from Proceedings of the IEEE International Symposium on Assembly and Task Planning, 1995, pages 2-8.

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NOTE: At the time of publication, author Daniel Koditschek was affiliated with the University of Michigan. Currently, he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania.



Date Posted: 04 June 2008

This document has been peer reviewed.