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TECHNICAL PAPERS

Optimal Motion Generation for Groups of Robots: A Geometric Approach

[+] Author and Article Information
Calin Belta

MEM Department, Drexel University, Philadelphia, PA 19104e-mail: calin@drexel.edu

Vijay Kumar

GRASP Laboratory, University of Pennsylvania, Philadelphia, PA 19104e-mail: kumar@grasp.cis.upenn.edu

J. Mech. Des 126(1), 63-70 (Mar 11, 2004) (8 pages) doi:10.1115/1.1641190 History: Received August 01, 2002; Revised June 01, 2003; Online March 11, 2004
Copyright © 2004 by ASME
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References

Figures

Grahic Jump Location
Geometry of the robots and of the virtual structure showing the initial and the final configurations. The relevant dimensions are chosen to be: a=c=2,b=10,h=20,l=10,X=20,Z=20,m=12.
Grahic Jump Location
Optimal motion for five identical robots required to maintain a rigid formation
Grahic Jump Location
Three interpolating motions for a set of two planar robots as geodesics of a modified metric defined in the configuration space.
Grahic Jump Location
Three interpolating motions for a set of three planar robots as geodesics of a modified metric defined in the configuration space.

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