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

Authors:
H. Işil Bozma;Daniel E. Koditschek
Affiliations:
Intelligent Systems Laboratory, Department of Electrical and Electronic Engineering, Bogˇaziçi University, Bebek, Istanbul 80815 (Turkey) http://www.isl.ee.boun.edu.tr/~isil;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
Venue:
Robotica
Year:
2001

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Abstract

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.