Event-Driven Parts' Moving in 2D Endogeneous Environments

This paper is concerned with the parts' moving problem based on an event-driven planning and control. We are interested in developing feedback based approaches to the automatic generation o f actuator commands that cause the robot to move a set o f parts jkom an arbitrary initial disassembled configuration to a specified final configuration. In the Phase 1 o f this project, a composite algorithm that reactively switches between different feedback controllers has been shown to induce a noncooperative game being played among the parts being manipulated. This paper describes experimental results with EDAR Event-Driven Assembler Robot developed for moving parts based on feedback techniques.