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Assembly as a noncooperative game of its pieces: analysis of 1D sphere assemblies

Published online by Cambridge University Press:  17 January 2001

H. Işil Bozma  and
Daniel E. Koditschek
H. Işil Bozma
Affiliation:
Intelligent Systems Laboratory, Department of Electrical and Electronic Engineering, Bogˇaziçi University, Bebek, Istanbul 80815 (Turkey) http://www.isl.ee.boun.edu.tr/~isil
Daniel E. Koditschek
Affiliation:
Artificial Intelligence Laboratory, EECS Department, College of Engineering, University of Michigan, Ann Arbor, Michigan 48109 (USA) http://ai.eecs.umich.edu/people/kod/kod.html
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Abstract

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We propose an event-driven algorithm for the control of simple robot assembly problems based on noncooperative game theory. We examine rigorously the simplest setting – three bodies with one degree of freedom and offer extensive simulations for the 2 DOF extension. The initial analysis and the accompanying simulations suggest that this approach may indeed, offer an attractive means of building robust event driven assembly systems.

Keywords

Noncooperative gameRobot assemblyEvent-driven algorithm
Type
Research Article
Information
Robotica , Volume 19 , Issue 1 , January 2001 , pp. 93 - 108
Copyright
© 2001 Cambridge University Press