Matches in SemOpenAlex for { <https://semopenalex.org/work/W2108972657> ?p ?o ?g. }
Showing items 1 to 99 of
99
with 100 items per page.
- W2108972657 abstract "This paper studies optimal control of multiple robot systems with frictional contact. The task is to move the robots into goal regions with specified velocities using external control forces. The robots have nonlinear dynamics, which may arise from the robot body dynamics, friction between robot and environment, and friction between robot and robot. Nonpenetration constraints between robots are imposed, and the robots are assumed rigid. The problem is modeled as a mathematical program with complementarity constraints (MPCC). The MPCC model is solved by using its elastic mode, which is a well-behaved nonlinear programming problem. Preliminary results with this approach are illustrated on example problems. The main contributions of this paper are a novel optimal control model that can deal with friction in the multiple robot system, and application of a new mathematical programming algorithm to solve the MPCC formulation. This optimal control model has potential applications in robot systems with friction, such as multifinger manipulation, manipulation with ropes, and multirobot pushing coordination." @default.
- W2108972657 created "2016-06-24" @default.
- W2108972657 creator A5000943506 @default.
- W2108972657 creator A5002379534 @default.
- W2108972657 creator A5090460943 @default.
- W2108972657 date "2004-01-01" @default.
- W2108972657 modified "2023-09-26" @default.
- W2108972657 title "Optimal control of multiple robot systems with friction using mpcc" @default.
- W2108972657 cites W101508493 @default.
- W2108972657 cites W1505660892 @default.
- W2108972657 cites W1514487078 @default.
- W2108972657 cites W1564897360 @default.
- W2108972657 cites W1594130515 @default.
- W2108972657 cites W1762028192 @default.
- W2108972657 cites W1863381371 @default.
- W2108972657 cites W1903576784 @default.
- W2108972657 cites W1964166152 @default.
- W2108972657 cites W1972243722 @default.
- W2108972657 cites W1973110886 @default.
- W2108972657 cites W2000359213 @default.
- W2108972657 cites W2007677977 @default.
- W2108972657 cites W2022144657 @default.
- W2108972657 cites W2029742263 @default.
- W2108972657 cites W2034039293 @default.
- W2108972657 cites W2036016432 @default.
- W2108972657 cites W2037678919 @default.
- W2108972657 cites W2051890856 @default.
- W2108972657 cites W2085897137 @default.
- W2108972657 cites W2133067819 @default.
- W2108972657 cites W2135921905 @default.
- W2108972657 cites W2163862895 @default.
- W2108972657 cites W2170429598 @default.
- W2108972657 cites W2171126500 @default.
- W2108972657 cites W217831350 @default.
- W2108972657 cites W2335533 @default.
- W2108972657 cites W2472099253 @default.
- W2108972657 cites W3217246742 @default.
- W2108972657 cites W32262714 @default.
- W2108972657 doi "https://doi.org/10.1109/robot.2004.1302547" @default.
- W2108972657 hasPublicationYear "2004" @default.
- W2108972657 type Work @default.
- W2108972657 sameAs 2108972657 @default.
- W2108972657 citedByCount "1" @default.
- W2108972657 countsByYear W21089726572021 @default.
- W2108972657 crossrefType "proceedings-article" @default.
- W2108972657 hasAuthorship W2108972657A5000943506 @default.
- W2108972657 hasAuthorship W2108972657A5002379534 @default.
- W2108972657 hasAuthorship W2108972657A5090460943 @default.
- W2108972657 hasConcept C115527620 @default.
- W2108972657 hasConcept C121332964 @default.
- W2108972657 hasConcept C126255220 @default.
- W2108972657 hasConcept C127413603 @default.
- W2108972657 hasConcept C133731056 @default.
- W2108972657 hasConcept C154945302 @default.
- W2108972657 hasConcept C158622935 @default.
- W2108972657 hasConcept C19966478 @default.
- W2108972657 hasConcept C2775924081 @default.
- W2108972657 hasConcept C33923547 @default.
- W2108972657 hasConcept C41008148 @default.
- W2108972657 hasConcept C47446073 @default.
- W2108972657 hasConcept C62520636 @default.
- W2108972657 hasConcept C65401140 @default.
- W2108972657 hasConcept C74222875 @default.
- W2108972657 hasConcept C90509273 @default.
- W2108972657 hasConcept C91575142 @default.
- W2108972657 hasConceptScore W2108972657C115527620 @default.
- W2108972657 hasConceptScore W2108972657C121332964 @default.
- W2108972657 hasConceptScore W2108972657C126255220 @default.
- W2108972657 hasConceptScore W2108972657C127413603 @default.
- W2108972657 hasConceptScore W2108972657C133731056 @default.
- W2108972657 hasConceptScore W2108972657C154945302 @default.
- W2108972657 hasConceptScore W2108972657C158622935 @default.
- W2108972657 hasConceptScore W2108972657C19966478 @default.
- W2108972657 hasConceptScore W2108972657C2775924081 @default.
- W2108972657 hasConceptScore W2108972657C33923547 @default.
- W2108972657 hasConceptScore W2108972657C41008148 @default.
- W2108972657 hasConceptScore W2108972657C47446073 @default.
- W2108972657 hasConceptScore W2108972657C62520636 @default.
- W2108972657 hasConceptScore W2108972657C65401140 @default.
- W2108972657 hasConceptScore W2108972657C74222875 @default.
- W2108972657 hasConceptScore W2108972657C90509273 @default.
- W2108972657 hasConceptScore W2108972657C91575142 @default.
- W2108972657 hasLocation W21089726571 @default.
- W2108972657 hasOpenAccess W2108972657 @default.
- W2108972657 hasPrimaryLocation W21089726571 @default.
- W2108972657 hasRelatedWork W140412272 @default.
- W2108972657 hasRelatedWork W150698751 @default.
- W2108972657 hasRelatedWork W1585707520 @default.
- W2108972657 hasRelatedWork W1823805402 @default.
- W2108972657 hasRelatedWork W2110320322 @default.
- W2108972657 hasRelatedWork W2348134434 @default.
- W2108972657 hasRelatedWork W2379725088 @default.
- W2108972657 hasRelatedWork W3022422701 @default.
- W2108972657 hasRelatedWork W4281678835 @default.
- W2108972657 hasRelatedWork W4322746196 @default.
- W2108972657 isParatext "false" @default.
- W2108972657 isRetracted "false" @default.
- W2108972657 magId "2108972657" @default.
- W2108972657 workType "article" @default.