This paper addresses the coordinated navigation of multiple independently actuated disk-shaped robots -all placed within the same disk-shaped workspace. We encode complete information about the goal, obstacles and workspace boundary using an artificial potential function over the cross product space of the robots' simultaneous configurations. The closed-loop dynamics governing the motion of each robot take the form of the approriate projection of the gradient of this function. We show, with some reasonable restrictions on the allowable goal positions, that this function is an essential navigation function -a special type of artificial potential function that is ensured of connecting the kinematic planning with the dynamic execution in a correct manner. Hence, each robot is guaranteed of collisionfree navigation to its destination from almost all initial free placements.
Many industrial applications require some sort of automated visual processing and classification of items placed on a moving conveyor. In this paper, we present a selective perception based approach to visual processing. The novelty of this approach is that instead of processing the whole image, only areas that are deemed ''interesting'' and hence calling for attention are analyzed. The attentional sequences thus constructed can then be used for a variety of tasks including shape determination. Since only a small portion of the whole image is processed, visual processing can be real-time and flexible without requiring special hardware. Two different applications based on this approach are described. In a defective item detection task, we explain in detail how attentional sequences can be used. As a second application, the approach has been implemented in an automated remote controller sorter in a TV manufacturing plantFthus confirming its practical applicability. r
A collection of unactuated disk-shaped "parts" must be brought by an actuated manipulator robot into a specified configuration from arbitrary initial conditions. The task is cast as a noncooperative game played among the parts-which in turn yields a feedback-based event-driven approach to plan generation and execution. The correctness of this approach, an open question, has been demonstrated in simpler settings and is further suggested by the extensive experiments reported here using an actual working implementation with EDAR-a mobile robot operating in a purely feedback-based event-driven manner. These results verify the reliability of this approach against uncertainties in sensory information and unanticipated changes in workspace configuration. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.
Feedback-Based Event-Driven Parts MovingCem Serkan Karagöz, H. Işıl Bozma, and Daniel E. Koditschek Abstract-A collection of unactuated disk-shaped "parts" must be brought by an actuated manipulator robot into a specified configuration from arbitrary initial conditions. The task is cast as a noncooperative game played among the parts-which in turn yields a feedback-based eventdriven approach to plan generation and execution. The correctness of this approach, an open question, has been demonstrated in simpler settings and is further suggested by the extensive experiments reported here using an actual working implementation with EDAR-a mobile robot operating in a purely feedback-based event-driven manner. These results verify the reliability of this approach against uncertainties in sensory information and unanticipated changes in workspace configuration.
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