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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) 
240254 
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 timeoptimal 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 offline. The objective of this paper is to demonstrate that even without the complicated calculation, a motion that is sufficiently close to timeoptimal 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. 
 [179] 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. 240254, 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 = {240254}, organization = {}, publisher = {}, publisher_e = {}, address = {}, month = {September}, year = {1998}, note = {Dagstuhl Castle, Germany}, annote = {http://www.springerlink.com/content/9477n12748721036/} }
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