Titlebook: Algorithmic Foundations of Robotics VIII; Selected Contributio Gregory S. Chirikjian,Howie Choset,Todd Murphey Book 2010 Springer-Verlag Be

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Simultaneous Coverage and Tracking (SCAT) of Moving Targets with Robot Networksronments with time-varying density functions under the locational optimization framework. This allows for coupling the basic subtasks: task assignment, coverage, and tracking. A decentralized controller with guaranteed exponential convergence is devised. The SCAT algorithm is verified in simulations

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Two Finger Caging: Squeezing and Stretchingo arrange obstacles so that all motions of the mobile body are bounded). This paper shows that if a compact connected contractible object is caged by two points, then it is either . or . or both, where . means the body is trapped even if the point fingers are given the freedom of moving apart, and .

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A State Transition Diagram for Simultaneous Collisions with Application in Billiard Shootingre “active” at only a subset of the contact points. A state transition happens whenever an active impact finishes restitution, or an inactive impact gets reactivated, depending on whether the two involved bodies are instantaneously penetrating into each other or not. The elastic energy due to an imp

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