2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)最新文献_第3页

Evaluation of Shadow Range Finder: SRF for planetary surface exploration 用于行星表面探测的阴影测距仪:SRF评价

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241980

Y. Kunii, T. Gotoh

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引用次数: 7

A distributed route planning method for multiple mobile robots using Lagrangian decomposition technique 基于拉格朗日分解技术的多移动机器人分布式路径规划方法

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1242188

T. Nishi, Masakazu Ando, M. Konishi, J. Imai

{"title":"A distributed route planning method for multiple mobile robots using Lagrangian decomposition technique","authors":"T. Nishi, Masakazu Ando, M. Konishi, J. Imai","doi":"10.1109/ROBOT.2003.1242188","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1242188","url":null,"abstract":"For the transportation in semiconductor fabricating bay, route planning of multiple AGVs (Automated Guided Vehicles) is expected to minimize the total transportation time without collision and deadlock among AGVs. In this paper, we propose a distributed route planning method for multiple mobile robots using Lagrangian decomposition technique. The proposed method has a characteristic that each mobile robot individually creates a near optimal route through the repetitive data exchange among the AGVs and the local optimization of its route using Dijkstra's algorithm. The proposed method is successively applied to transportation route planning problem in semiconductor fabricating bay. The optimality of the solution generated by the proposed method is evaluated by using the duality gap derived by using Lagrangian relaxation method. A near optimal solution within 5% of duality gap for a large scale transportation system consisting of 143 nodes and 15 AGVs can be obtained only within five seconds of computation time. The proposed method is implemented on 3 AGVs system and the route plan is derived taking the size of AGV into account. It is experimentally shown that the proposed method can be found to be effective for various types of problems despite the fact that each route for AGV is created without considering the entire objective function.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128362003","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 23

Singularity-free path planning of parallel manipulators using clustering algorithm and line geometry 基于聚类算法和线几何的并联机器人无奇异路径规划

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241685

A. Dash, I. Chen, S. Yeo, Guilin Yang

引用次数: 49

The haptic scissors: cutting in virtual environments 触觉剪刀:在虚拟环境中切割

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241696

A. Okamura, R. Webster, Jason T. Nolin, K. Johnson, H. Jafry

引用次数: 100

Virtual fixture architectures for telemanipulation 远程操作的虚拟夹具体系结构

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1242016

J. Abbott, A. Okamura

引用次数: 83

Synthesize stylistic human motion from examples 从例子中综合文体的人体动作

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1242195

A. Nakazawa, Shin'ichiro Nakaoka, K. Ikeuchi

引用次数: 22

Implementing configuration dependent gaits in a self-reconfigurable robot 自重构机器人构型依赖步态的实现

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1242184

K. Støy, Wei-Min Shen, P. Will

引用次数: 31

Learning human control strategy for dynamically stable robots: support vector machine approach 动态稳定机器人的人类控制策略学习:支持向量机方法

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1242124

Y. Ou, Yangsheng Xu

引用次数: 10

Calculating possible local displacement of curve objects using improved screw theory 用改进的螺旋理论计算曲线物体可能的局部位移

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1242192

J. Takamatsu, K. Ogawara, H. Kimura, K. Ikeuchi

引用次数: 3

Simultaneous localization and mapping with unknown data association using FastSLAM 同时定位和地图与未知数据关联使用FastSLAM

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241885

Michael Montemerlo, S. Thrun

引用次数: 519