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分類 国際会議
著者名 (author) Yuichi Asahiro,Hajime Asama,Satoshi Fujita,Ichiro Suzuki,Masafumi Yamashita
英文著者名 (author)
編者名 (editor)
編者名 (英文)
キー (key)
表題 (title) Distributed Algorithms for Carrying a Ladder by Omnidirectional Robots in Near Optimal Time
表題 (英文)
書籍・会議録表題 (booktitle) Sensor Based Intelligent Robots, International Workshop, LNAI
書籍・会議録表題(英文)
巻数 (volume) 1724
号数 (number)
ページ範囲 (pages) 240-254
組織名 (organization)
出版元 (publisher)
出版元 (英文)
出版社住所 (address)
刊行月 (month) September
出版年 (year) 1998
付加情報 (note) Dagstuhl Castle, Germany
注釈 (annote) http://www.springerlink.com/content/9477n12748721036/
内容梗概 (abstract) Consider two omnidirectional robots carrying a ladder, one at each end, in the plane without obstacles. Given start and goal positions of the ladder, what is a time-optimal motion of the robots subject to given constraints on their kinematics such as maximum acceleration and velocity? Using optimal control theory, Chen, Suzuki and Yamashita solved this problem under a kinematic constraint that the speed of each robot must be either 0 or a given constant v at any moment during the motion. Their solution, which requires complicated calculation, is centralized and off-line. The objective of this paper is to demonstrate that even without the complicated calculation, a motion that is sufficiently close to time-optimal can be obtained using a simple distributed algorithm in which each robot decides its motion individually based on the current and goal positions of the ladder.
論文電子ファイル Not available.


[1-79]  Yuichi Asahiro, Hajime Asama, Satoshi Fujita, Ichiro Suzuki, and Masafumi Yamashita, ``Distributed Algorithms for Carrying a Ladder by Omnidirectional Robots in Near Optimal Time,'' In Sensor Based Intelligent Robots, International Workshop, LNAI, vol. 1724, pp. 240-254, September 1998. (Dagstuhl Castle, Germany)

@inproceedings{1_79,
    author = {Yuichi Asahiro and Hajime Asama and Satoshi Fujita and Ichiro
    Suzuki and Masafumi Yamashita},
    author_e = {},
    editor = {},
    editor_e = {},
    title = {Distributed Algorithms for Carrying a Ladder by Omnidirectional
    Robots in Near Optimal Time},
    title_e = {},
    booktitle = {Sensor Based Intelligent Robots, International Workshop, LNAI},
    
    booktitle_e = {},
    volume = {1724},
    number = {},
    pages = {240-254},
    organization = {},
    publisher = {},
    publisher_e = {},
    address = {},
    month = {September},
    year = {1998},
    note = {Dagstuhl Castle, Germany},
    annote = {http://www.springerlink.com/content/9477n12748721036/}
}

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