Title :
Relaxation times in motion of group robots without specific sensors for mutual information
Author_Institution :
Dept. of Mech. & Robot., Hiroshima Int. Univ., Hiroshima, Japan
Abstract :
Relaxation times are predicted in systems where sensorless robots carry objects only by collision in a closed region. According to continuum mechanical model to describe the systems, we explicitly calculate governing equation of a one body distribution function of robots. Eigenvalue analysis with numerical calculation are given to correctly predict relaxation times that play a role of dead times in controlling motion of the object. According to the results obtained, guidelines for appropriately designing various parameters that govern the system are given.
Keywords :
collision avoidance; continuum mechanics; cooperative systems; eigenvalues and eigenfunctions; mobile robots; motion control; multi-robot systems; collision avoidance; continuum mechanical model; dead times; distribution function; eigenvalue analysis; group robots; motion control; mutual information; numerical calculation; relaxation times; sensorless robots; Collision avoidance; Eigenvalues and eigenfunctions; Mathematical model; Robot kinematics; Robot sensing systems; Liouville equation; aimless motion of robots; dead times in control; one body distribution function; potential force acting only on robots; relaxation times in distribution functions;
Conference_Titel :
SICE Annual Conference (SICE), 2011 Proceedings of
Conference_Location :
Tokyo
Print_ISBN :
978-1-4577-0714-8
