Title :
Dynamic robot planning: cooperation through competition
Author :
Large, Edward W. ; Christensen, Henrik I. ; Bajcsy, Ruzena
Author_Institution :
GRASP Lab., Pennsylvania Univ., Philadelphia, PA, USA
Abstract :
We address scaling of the “dynamic systems” approach for robot planning to multi-agent cooperation. To accommodate this extension it is necessary to carefully consider how individual behaviors contribute to the vector field. To avoid spurious minima and related problems a competition dynamics is introduced and its stability is analyzed. A system of two cooperating agents is designed, and examples are presented to illustrate the utility of this approach
Keywords :
cooperative systems; intelligent control; mobile robots; path planning; stability; competition dynamics; cooperating agents; dynamic robot planning; dynamic systems approach; individual behaviors; multi-agent cooperation; vector field; Computational geometry; Control systems; Kinematics; Laboratories; Navigation; Orbital robotics; Robots; Solid modeling; Stability analysis; State-space methods;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.619306
