Event-driven parts moving in 2D endogenous environments

This paper deals with the parts moving problem based on an event-driven planning and control. We are interested in developing feedback based approaches to the automatic generation of actuator commands that cause the robot to move a set of parts from an arbitrary initial disassembled configuration to a specified final configuration. In the Phase 1 of this project, a composite algorithm that reactively switches between different feedback controllers is shown to induce a noncooperative game being played among the parts being manipulated. This paper describes experimental results with EDAR (event-driven assembler robot) developed for moving parts based on feedback techniques