EDAR - mobile robot for parts moving based on a game-theoretic approach
Copyright 2002 IEEE. Reprinted from IEEE Electronics Letters, Volume 38, Issue 3, January 2002, pages 147-148.
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NOTE: At the time of publication, Daniel Koditschek was affiliated with the University of Michigan. Currently, he is a faculty member of the School of Engineering at the University of Pennsylvania.
EDAR (event-driven assembler robot) — a mobile robot capable of moving a collection of disk-shaped parts located on a two-dimensional workspace from an arbitrary initial configuration to a desired configuration while avoiding collisions in a purely reactive manner, is presented. Since EDAR uses a higher-level scheduler to switch among the subtasks of moving individual parts, it is viewed as mediating a noncooperative game played among the parts.
Cem Serkan Karagöz, H. Isil Bozma, and Daniel E. Koditschek. "EDAR - mobile robot for parts moving based on a game-theoretic approach" Departmental Papers (ESE) (2002).
Available at: http://works.bepress.com/daniel_koditschek/3