Robot navigation functions on manifolds with boundary
Advances in Applied Mathematics
A geometrical approach to planning manipulation tasks. The case of discrete placements and grasps
The fifth international symposium on Robotics research
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Abstract: We propose an event-driven approach to planning and control of robot assembly problems using ideas from noncooperative game theory. We report on the results of an extensive simulation study for a very simple two degree of freedom case-the arrangement of disks on a plane by a disk shaped robot.