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

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… (More)
DOI: 10.1017/S0263574799002003

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