Safe cooperative robot dynamics on graphs

Details Safe cooperative robot dynamics on graphs Safe cooperative robot dynamics on graphs

2000-02-24

arxiv.org/abs/cs/0002014v1

Computer Science

Robotics

18 pages, 5 figures

Scientific paper

This 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.

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