Showing papers on "Ant robotics published in 1989"

Control of Robots

Abstract: In this chapter we shall consider the problems concerning control synthesis for manipulation robots. The control system represents a very important part of the robotic system. Application of the robots in industry and other fields depends on efficiency, reliability and the capabilities of the control system which has to ensure successful application of robots in various tasks.

General About Robots

Abstract: Robotic systems represent in principle new technical means of complex automation production processes. Handwork can be totally eliminated by their use, both in case of basic and auxiliary tehnological operations.

Cognitive Collision Prediction & Path Planning Of Mobile Robots: A Qualitative Approach

Abstract: means of nonmonotonic temporal logic and qualitative reasoning techniques. In order t o meet the on l ine limitations, t h e method of discrete i terat ion is exploited t o produce t h e path without running the goal seeking algorithm again. The above techniques a r e implemented in a program. The paper demonstrates our approach through an example. 1. I N T R O D U C T I O N Collision prediction, coll ision avoidance and path planning problems can all be formulated in a similar way, they all begin with a given present state and some assertions on t h e goal in a defined scenario, and t h e robots a r e required t o predict t h e possible collision and decide upon the control t o achieve t h e goal o r subgoals satisfactorily. The abstract knowledge in all cases along with the spatiotemporal coordination remain the same. In t h e path planning case the concentration is on the spat ia l argument and in coll ision prediction avoidance t h e temporality is mainly concerned. Collision avoidance makes use of both. 1 1 . T h e p r o b l e m In ordcr t o sce what a r e the problems if one t r ies t o predict cvcnts in the ruturc and control them, suppose tha t the two dimensional scenario is composed of two mobile robots M I and M P with the preset goals G and G P respectively, approaching cach othcr , and the i r t ra jec tor ies intersect spat ia l ly as in Fig. 1. Each robot has a potent ia l behavior [14] in t h e lack of any o ther obstacle interrupting its t r a j e c t o r y (Fig.1-a). In case of collision only par t s of the potent ia l behavior un t i l the collision point is manifested and a f t e r tha t there is a new behavior which doesn't necessarily terminate t o the previously set goal (Fig.1-b).