17542367
The effect of feedback and feedforward on formation ISS
A new type of stability of leader follower formations is defined, based on input-to-state stability (ISS) properties of cascade interconnections. Formation ISS links leader input to internal state of the formation and characterizes the way this input affects performance. The effect of feedforward and feedback inter-agent communication is then investigated in this framework and it is indicated how the structure of interconnections and the amount of available information can affect stability performance.
5542960
Metrics for analysis and optimization of grasps and fixtures
We develop two quality measures for the analysis and optimization of grasps and fixtures. The first metric is a measure of stability and is obtained by analyzing the effect of small perturbations in the position of the grasped object or small disturbance forces on the grasped object The second metric is a measure of robustness to errors in the positions of the fixture elements. In addition, we explore the effect that the stiffness of the fixture elements has on these two quality measures and propose a design optimization approach to maximize stability and robustness to errors.
29516211
Control of Contact Interactions with Acatastatic Nonholonomic Constraints
A robot arm performs many tasks by interacting with objects or other robots in the environment. It is important for the robot arm to be able to exhibit controlled interactions with the objects and other robots. The contact motion between the robot arm and an object can be rolling, sliding, or separation. In this article, we address the problem of maintaining rolling contact between the robot arm and an external moving object. We assume that a nominal model of the motion of the moving object is available. The dynamic system that characterizes the motion of the robot arm and the moving object in this case is acatastatic and nonholonomic. We have designed a nonlinear feedback for the control of such a system that successfully maintains rolling contact. Simulation results are presented to demonstrate the effectiveness of the system.
7023425
A Paradigm for Dynamic Coordination of Multiple Robots
In this paper, we present a paradigm for coordinating multiple robots in the execution of cooperative tasks. The basic idea in the paper is to assign to each robot in the team, a role that determines its actions during the cooperation. The robots dynamically assume and exchange roles in a synchronized manner in order to perform the task successfully, adapting to unexpected events in the environment. We model this mechanism using a hybrid systems framework and apply it in different cooperative tasks: cooperative manipulation and cooperative search and transportation. Simulations and real experiments demonstrating the effectiveness of the proposed paradigm are presented.
15738427
A potential field based approach to multi-robot manipulation
We describe a framework for controlling and coordinating a group of robots for cooperative manipulation tasks. The framework enables a decentralized approach to planning and control. It allows the robots to approach the object, organize themselves into a formation that will trap the object, and then transport the object to the desired destination. Our controllers and planners are derived from simple potential fields and the hierarchical composition of potential fields. We show how these potential field based controllers and planners benefit complex group interactions, specifically for manipulating and transporting objects in the plane. Theoretically, we show how we can derive results on formation stability with potential field based controllers in many cases. Simulation results demonstrate successful application to a wide range of examples without showing sensitivity to parameters. Because the framework is decentralized at both trajectory generation level and the estimation and control agent level, our framework can potentially scale to groups of tens and hundreds of robots.
6879835
Calibrating an air-ground control system from motion correspondences
In this paper we consider the problem of controlling the motion of a vehicle moving on a ground plane based on aerial imagery. In the course of this work we propose a novel analysis of the relationship between the velocity of the vehicle on the ground plane and the velocity of its projection in the image. We show that this relationship provides information about a subset of the parameters of the homography relating the ground plane to the aerial image plane and describe how we can recover this relationship from available measurements.
5834255
An integrated data structure with multiple access paths for database systems
This article presents an integrated data structure which offers multiple access paths for processing different types of queries efficiently. The data structure is developed by fusing the B+ - tree, the grid file and extendible hashing structures using a proper interface. We show that this type of data structure is an efficient way for providing multiple access paths to data.
27496319
An efficient CCM KRISHNA for high contention environment and its performance comparison with WDL
Abstract Commonly known concurrency control mechanisms (CCMs) based on two-phase locking are known to be unsuitable for high contention environment. One of the main reasons for their inefficiency is the high level of wasted work, which occurs because of redundant roll-backs, and inappropriate blocking in resolving conflicts. This happens mainly because these CCMs resolve conflicts using pre-defined policies; an approach which sets a limit on their efficiency. Recently a class of CCM, called Wait Depth Limited (WDL) has appeared in the literature, which claims to overcome some of these problems. We also recognize limitations and unsuitability of commonly known locking based CCMs for high contention environment, and present a class of CCMs called KRISHNA which offers a simple heuristic based and efficient solutions to these problems. We establish our claim with a detail simulation study and show that one of the CCMs of KRISHNA class outperforms WDL class in the majority of high contention environments. We argue that our CCMs are based on a simple approach, and are easy and cheaper to implement.
37917309
Management of Concurrency in Interpolation Based Grid File Organization and its Performance
The mathematical structure of the interpolation based grid file organization provides a suitable platform for supporting a high degree of concurrency under a concurrency control mechanism. To demonstrate this capability, we first identified its useful properties for designing a concurrency control mechanism and then developed a deadlock-free two-phase locking based mechanism using dynamic attributes of transactions. To establish the usefulness of our system (concurrency control and the file organization), we measured its performance through simulation modeling. We show that our system handles a number of different types of workloads efficiently and the directory overhead does not strictly depend on the type of workload.
368036
Data Organization Issues for Location-Dependent Queries in Mobile Computing
We consider queries which originate from a mobile unit and whose result depends on the location of the user who initiates the query. Example of such a query is How many people are living in the region I am currently in?" We execute such queries based on location-dependent data involved in their processing. We build concept hierarchies based on the location data. These hierarchies define mapping among different granularities of locations. One such hierarchy is to generate domain knowledge about the cities that belong to a state. The hierarchies are used as distributed directories to assist in finding the database or relation that contains the values of the location-dependent attribute in a particular location. We extend concept hierarchies to include spatial indexes on the location-dependent attributes. Finally, we discuss how to partition and replicate relations based on the location to process the queries efficiently. We briefly discuss the implementation issues.
11171759
A Study of Priority Cognizance in Conflict Resolution for Firm Real-Time Database Systems
Real-Time Database Systems (RTDBSs)must meet time constraints in addition to the integrity constraints present in most other database systems. From the late 1980s a significant amount of research work has been performed on the design and performance evaluation of Concurrency Control Mechanisms (CCMs) for RTDBSs [5, 4,7, 8, 11]. Given the spate of papers on (firm) real-time CCMs of the late 80s and early 90s, there appears to have been a reduction in the number of papers in recent years. More recent works (e.g., [6]) study non-traditional real-time scenarios. We have not been able to discover papers reporting significant performance gains from CC strategies designed for traditional firm RTDBS in the past few years. One plausible explanation is that performance gains are harder to achieve. One way in which higher performances can potentially be reached is by utilizing priority information in conflict-resolution. Indeed, the authors of [5] ask the question “How can the priorities be used to improve the performance of the optimistic algorithm?”.