NDLI: Agents paradigm to solve a complex optimization problem

Content Provider	IEEE Xplore Digital Library
Author	Ramdane-Cherif, A. Levy, N. Djenidi, H. Tadj, C.
Copyright Year	2002
Description	Author affiliation: PRiSM, Univ. de Versailles St.-Quentin, France (Ramdane-Cherif, A.; Levy, N.)
Abstract	Agents are computational systems interacting with dynamic, and non-entirely predictable environments. They decide for themselves, on the basis of their individual beliefs, goals, etc., how to respond to the environment. An agent is usually motivated to achieve a feasible objective by means of the collaboration of other agents. For example, lifting a heavy table may be impossible without help. However, it can be done by simply asking others for help. The process of gaining collaboration can take many forms. However, some tasks need more detailed communication to generate an explicit mutually acceptable agreement through negotiation. This paper presents a new method to solve the inverse kinematic problem of a redundant robot using the agents paradigm. This method guarantees rapid convergence of the robot to desired position, with substantially good accuracy. The originality of the proposed approach is its ability to overcome some of the standard problems such as the computation of the inverse or pseudoinverse Jacobian matrix, problem of singularity, redundancy, and considerably increased computational complexity, etc.
Starting Page	247
Ending Page	256
File Size	1076540
Page Count	10
File Format	PDF
ISBN	0769517242
DOI	10.1109/COGINF.2002.1039305
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2002-08-19
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Multiagent systems Artificial intelligence Kinematics Collaboration Convergence Jacobian matrices Computational complexity Robot control Robot motion Control system synthesis
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Decision making for a RoboCup multi-agent system

Steering laws for distributed motion coordination of kinematic agents in three dimensions

Adjoint Jacobian closed-loop kinematic control of robots

Inverse kinematic problem near singularities for simple manipulators: symbolical damped least-squares solution

Control of Multi-Agent Systems Based on Redundant Manipulator Global Optimization Techniques

Penalty approach for a constrained optimization to solve on-line the inverse kinematic problem of redundant manipulators

Control of small formations using shape coordinates

Desingularization of resolved motion rate control of mechanisms

Inverse kinematics for humanoid robots

Agents paradigm to solve a complex optimization problem

Similar Documents

Decision making for a RoboCup multi-agent system

Steering laws for distributed motion coordination of kinematic agents in three dimensions

Adjoint Jacobian closed-loop kinematic control of robots

Inverse kinematic problem near singularities for simple manipulators: symbolical damped least-squares solution

Control of Multi-Agent Systems Based on Redundant Manipulator Global Optimization Techniques

Penalty approach for a constrained optimization to solve on-line the inverse kinematic problem of redundant manipulators

Control of small formations using shape coordinates

Desingularization of resolved motion rate control of mechanisms

Inverse kinematics for humanoid robots

Agents paradigm to solve a complex optimization problem