Safe cooperative robot dynamics on graphs

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dc.creatorGhrist, Robert
dc.creatorKoditschek, Daniel
dc.date2000-02-24
dc.date.accessioned2026-07-07T03:15:54Z
dc.date.available2026-07-07T03:15:54Z
dc.descriptionThis paper initiates the use of vector fields to design, optimize, and implement reactive schedules for safe cooperative robot patterns on planar graphs. We consider Automated Guided Vehicles (AGV's) operating upon a predefined network of pathways. In contrast to the case of locally Euclidean configuration spaces, regularization of collisions is no longer a local procedure, and issues concerning the global topology of configuration spaces must be addressed. The focus of the present inquiry is the achievement of safe, efficient, cooperative patterns in the simplest nontrivial example (a pair of robots on a Y-network) by means of a state-event heirarchical controller.
dc.description18 pages, 5 figures
dc.identifierhttps://arxiv.org/abs/cs/0002014
dc.identifierhttp://arxiv.org/abs/cs/0002014
dc.identifier.urihttp://salesiana.dossiersoluciones.com/handle/123456789/30160
dc.subjectRobotics
dc.subjectArtificial Intelligence
dc.subjectI.2.9
dc.titleSafe cooperative robot dynamics on graphs
dc.typetext

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