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Operations Research, Systems Engineering and Industrial Engineering Commons

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Full-Text Articles in Operations Research, Systems Engineering and Industrial Engineering

Coordinated Navigation Of Multiple Independent Disk-Shaped Robots, C. Serkan Karagoz, H. Isil Bozma, Daniel E. Koditschek Dec 2014

Coordinated Navigation Of Multiple Independent Disk-Shaped Robots, C. Serkan Karagoz, H. Isil Bozma, Daniel E. Koditschek

Departmental Papers (ESE)

This paper addresses the coordinated navigation of multiple independently actuated disk-shaped robots-all placed within the same disk-shaped workspace. Assuming perfect sensing, shared-centralized communications and computation, as well as perfect actuation, we encode complete information about the goal, obstacles, and workspace boundary using an artificial potential function over the configuration space of the robots’ simultaneous nonoverlapping positions. The closed-loop dynamics governing the motion of each (velocity-controlled) robot take the form of the appropriate projection of the gradient of this function. We impose (conservative) restrictions on the allowable goal positions that yield sufficient conditions for convergence: We prove that this construction is ...


A Systems Approach To Healthcare: Agent-Based Modeling, Community Mental Health, And Population Well-Being, Barry G. Silverman, Nancy Hanrahan, Gnana K. Bharathy, Kim Gordon, Dan Johnson Sep 2014

A Systems Approach To Healthcare: Agent-Based Modeling, Community Mental Health, And Population Well-Being, Barry G. Silverman, Nancy Hanrahan, Gnana K. Bharathy, Kim Gordon, Dan Johnson

Departmental Papers (ESE)

Purpose

Explore whether agent-based modeling and simulation can help healthcare administrators discover interventions that increase population wellness and quality of care while, simultaneously, decreasing costs. Since important dynamics often lie in the social determinants outside the health facilities that provide services, this study thus models the problem at three levels (individuals, organizations, and society).

Methods

The study explores the utility of translating an existing (prize winning) software for modeling complex societal systems and agent's daily life activities (like a Sim City style of software), into a desired decision support system. A case study tests if the 3 levels of ...


Navigation Of Distinct Euclidean Particles Via Hierarchical Clustering, Omur Arslan, Dan P. Guralnik, Daniel E. Koditschek Aug 2014

Navigation Of Distinct Euclidean Particles Via Hierarchical Clustering, Omur Arslan, Dan P. Guralnik, Daniel E. Koditschek

Departmental Papers (ESE)

We present a centralized online (completely reactive) hybrid navigation algorithm for bringing a swarm of n perfectly sensed and actuated point particles in Euclidean d space (for arbitrary n and d) to an arbitrary goal configuration with the guarantee of no collisions along the way. Our construction entails a discrete abstraction of configurations using cluster hierarchies, and relies upon two prior recent constructions: (i) a family of hierarchy-preserving control policies and (ii) an abstract discrete dynamical system for navigating through the space of cluster hierarchies. Here, we relate the (combinatorial) topology of hierarchical clusters to the (continuous) topology of configurations ...


A Recursive, Distributed Minimum Spanning Tree Algorithm For Mobile Ad Hoc Networks, Omur Arslan, Daniel E. Koditschek Jul 2014

A Recursive, Distributed Minimum Spanning Tree Algorithm For Mobile Ad Hoc Networks, Omur Arslan, Daniel E. Koditschek

Departmental Papers (ESE)

We introduce a recursive (“anytime”) distributed algorithm that iteratively restructures any initial spanning tree of a weighted graph towards a minimum spanning tree while guaranteeing at each successive step a spanning tree shared by all nodes that is of lower weight than the previous. Each recursive step is computed by a different active node at a computational cost at most quadratic in the total number of nodes and at a communications cost incurred by subsequent broadcast of the new edge set over the new spanning tree. We show that a polynomial cubic in the number of nodes bounds the worst ...


Towards A Comparative Measure For Legged Agility, Jeffrey Duperret, Gavin Kenneally, Jason Pusey, Daniel E. Koditschek Jun 2014

Towards A Comparative Measure For Legged Agility, Jeffrey Duperret, Gavin Kenneally, Jason Pusey, Daniel E. Koditschek

Departmental Papers (ESE)

We introduce an agility measure enabling the comparison of two very different leaping-from-rest transitions by two comparably powered but morphologically different legged robots. We use the measure to show that a flexible spine outperforms a rigid back in the leaping- from-rest task. The agility measure also sheds light on the source of this benefit: core actuation through a sufficiently powerful parallel elastic actuated spine outperforms a similar power budget applied either only to preload the spine or only to actuate the spine during the leap, as well as a rigid backed configuration of the identical machine.


Active Sensing For Dynamic, Non-Holonomic, Robust Visual Servoing, Avik De, Karl S. Bayer, Daniel E. Koditschek May 2014

Active Sensing For Dynamic, Non-Holonomic, Robust Visual Servoing, Avik De, Karl S. Bayer, Daniel E. Koditschek

Departmental Papers (ESE)

We consider the problem of visually servoing a legged vehicle with unicycle-like nonholonomic constraints subject to second-order fore-aft dynamics in its horizontal plane. We target applications to rugged environments characterized by complex terrain likely to perturb significantly the robot’s nominal dynamics. At the same time, it is crucial that the camera avoid “obstacle” poses where absolute localization would be compromised by even partial loss of landmark visibility. Hence, we seek a controller whose robustness against disturbances and obstacle avoidance capabilities can be assured by a strict global Lyapunov function. Since the nonholonomic constraints preclude smooth point stabilizability we introduce ...