John H. Reif and Hongyan Wang, "Social potential fields: A distributed behavioral control for autonomous robots," Robotics and Autonomous Systems, vol. 27, no. 3, pp. 171--94, May 1999.  Home/Search   Document Details and Download   Summary   Related Articles   Check

....behavior based approach, the main differences are that we do not use a global positioning system (e.g. GPS) and we also deal with a heterogeneous sys tem in which robots are equipped with different sets of sensors. Potential field approaches are widely used for formation keeping (see for example [10]) Robots move being attracted to their position in the pattern and being repulsed from obstacles and other robots. In [3] the idea of moving a team by means of one robot that leads the rest of the robots is discussed and some simulation results are shown. The issue of designing control laws for ....

J.H. Reif, H. Wang. Social Potential Fields: A Distributed Behavioral Control for Autonomous Robots. K. Goldberg (Ed.) Algorithmic Foundations of Robotics, AK Peters, 1995, pp. 331-336.

....and the outdoor operating scenario, the main differences are that we do not use a global positioning system (e.g. GPS) and we also deal with a heterogeneous system in which robots are equipped with different sets of sensors. Potential field approaches are also widely used (see for example [11,12,2]) Robots move by being attracted to their desired position in the pattern and being repulsed from obstacles and other robots. In this context one of the main problems is dealing with systems that operate in environments that exhibit significant dynamics, since the group has to promptly react to ....

J.H. Reif, H. Wang. "Social Potential Fields: A Distributed Behavioral Control for Autonomous Robots". K. Goldberg (Ed.) Algorithmic Foundations of Robotics, AK Peters, 1995, pp. 331-336.

....[8] For other, related papers, see references [5] 14] 49] B. Related Work Until recently, work on force fields for manipulation has been dominated by the artificial potential fields pioneered by Khatib, Koditschek, and Brooks While potential fields have been widely used in robot control [31, 32, 42, 46], micro actuator arrays present us with the ability to explicitly program the applied force at every point in a vector field. a Several groups have described efforts to apply MEMS actuators to positioning, inspection, and assembly tasks with small parts [3, 14, 27, 33, 40, for example] However, ....

J. Reif and H. Wang. Social potential fields: A distributed behavioral control for autonoomous robots. In K. Goldberg, D. Halperin, J.-C. Latombe, and R. Wilson, editors, Algorithmic Foundations of Robotics (WAFR), pages 431-459. A. K. Peters, Ltd, Wellesley, MA, 1995.

....For other, related papers, see references [5] 13] 45] 1.2 Related Work Until recently, work on force fields for manipulation has been dominated by the artificial potential fields pioneered by Khatib, Koditschek, and Brooks. While potential fields have been widely used in robot control [29, 30, 43, 39], micro actuator arrays present us with the ability to explicitly program the applied force at every point in a vector field. Several groups have described efforts to apply MEMS actuators to positioning, inspection, and assembly tasks with small parts [37, 3, 25, 13, 31, for example] However, ....

J. Reif and H. Wang. Social potential fields: A distributed behavioral control for autonoomous robots. In K. Goldberg, D. Halperin, J.-C. Latombe, and R. Wilson, editors, Algorithmic Foundations of Robotics (WAFR), pages 431--459. A. K. Peters, Ltd, Wellesley, MA, 1995.

....on the robot motions. A probabilistically complete planner based onto this roadmap coordination scheme [20] was applied to problems involving up to five robots. From another point of view, cooperation oriented approaches are based on local information (potential methods) see for instance [18] and [5] for a recent overview. Path coordination is out of the scope of these methods. Objective, approach and contribution Our objective is to solve practical problems involving a large fleet of mobile robots. Figure 1 shows a coordination problem with 150 robots solved by the algorithms ....

J. Reif & H. Wang. Social Potential Fields : a Distributed Behavioral Control for Autonomous Robots. In K. Goldberg et al, editeur, Algorithmic Foundations of Robotics, pp. 331-345. A. K. Peters, 1995.

....for a simple modular system based on attaining the correct sets of connections between modules. It is not clear how this approach might extend to more complex systems. Other related work in distributed robotics includes the study of flocking and similar behaviors have been developed (e.g. [8]) These approaches are not immediately applicable to self reconfiguration since they do not work in the presence of actuation constraints and do not generally allow precise goal configurations. The contribution of this paper is the PacMan algorithm, a simple scheme for distributed planning and ....

J. Reif and H. Wang. Social potential fields: A distributed behavioral control for autonomous robots. Robots & Autonomous Systems, 27(3):171--94, 1999.

....attempt to combine behavioral and hierarchical architectures in order to attain the desirable qualities of both architectures while overcoming their individual shortcomings. 21 Behavioral Architecture Some of the recent methods used to implement behavioral architecture include potential field [25], fuzzy logic [26 32] neural networks [33 35] and genetic algorithms [36,37] Some researchers have combined one or more of these methods in an attempt to overcome the weaknesses of a particular method with the strengths of another. Some of these combinations are fuzzy neural networks [38 42] ....

Reif, J.H. and Wang, H., "Social Potential Fields: A Distributed Behavioral Control for Autonomous Robots," Robotics and Autonomous Systems, v27, 1999, p171194.

....by exploiting the theory of potential fields [4] It can be shown that certain PFFs that implement potential fields have this property, whereas fields without potential do not induce stable equilibria on all parts. Previous work has developed control strategies with artificial potential fields [17, 18, 26, 24], and discrete approximations to physical potential fields [5, 4] The fields employed in this paper are non artificial (i.e. physical) Artificial potential fields require a tight feedback loop, in which, at each clock tick, the robot senses its state and looks up a control (i.e. a vector) ....

J. Reif and H. Wang. Social potential fields: A distributed behavioral control for autonoomous robots. In K. Goldberg, D. Halperin, J.-C. Latombe, and R. Wilson, editors, International Workshop on Algorithmic Foundations of Robotics (WAFR), pages 431-- 459. A. K. Peters, Wellesley, MA, 1995.

....Most of this work is targeted for scientific visualization, or for the combined visual haptic display of complex virtualreality environments. Control systems and abstractions in this work have been important in building our haptic system. Vector fields have been widely used in robot control [11, 12, 19, 18, 3], and these mathematical foundations were influential in our system design. Nonholonomic control and HOVFs were developed in the context of control for non linear geometric dynamics, and have a wide range of applications [1, 13, 2, 9, 14] There have been a number of elegant papers on processing ....

J. Reif and H. Wang. Social potential fields: A distributed behavioral control for autonoomous robots. In K. Goldberg, D. Halperin, J.-C. Latombe, and R. Wilson, editors, International Workshop on Algorithmic Foundations of Robotics (WAFR), pages 431--459. A. K. Peters, Wellesley, MA, 1995.

....For other, related papers, see references [5] 14] 49] 4 B. Related Work Until recently, work on force fields for manipulation has been dominated by the artificial potential fields pioneered by Khatib, Koditschek, and Brooks. 2 While potential fields have been widely used in robot control [31, 32, 42, 46], micro actuator arrays present us with the ability to explicitly program the applied force at every point in a vector field. 3 Several groups have described efforts to apply MEMS actuators to positioning, inspection, and assembly tasks with small parts [3, 14, 27, 33, 40, for example] However, ....

J. Reif and H. Wang. Social potential fields: A distributed behavioral control for autonoomous robots. In K. Goldberg, D. Halperin, J.-C. Latombe, and R. Wilson, editors, Algorithmic Foundations of Robotics (WAFR), pages 431--459. A. K. Peters, Ltd, Wellesley, MA, 1995.

....no sensing. Until recently, work on force fields for manipulation has been dominated by the artificial potential fields pioneered by Khatib, Koditschek, and Brooks. While potential fields have been widely used in robot control (Khatib, 1986; Koditschek and Rimon, 1988; Rimon and Koditschek, 1992; Reif and Wang, 1995), micro actuator arrays present us with the ability to explicitly program the applied force at every point in a vector field. Current technology permits the implementation of certain vector fields in the microscale with actuator arrays built in micro electro mechanical system (MEMS) technology ....

Reif, J. and Wang, H. (1995). Social potential fields: A distributed behavioral control for autonoomous robots. In Goldberg, K., Halperin, D., Latombe, J.-C., and Wilson, R., editors, Algorithmic Foundations DISTRIBUTED MANIPULATION of Robotics (WAFR), pages 431--459. A. K. Peters, Ltd, Wellesley, MA.

....which induce no stable equilibrium in very simple parts. Fortunately, there is also good news. We can provide sufficient conditions for fields to induce well behaved equilibria when lifted, by exploiting the theory of potential fields. While potential fields have been widely used in robot control [15, 22, 21], micro actuator arrays present us with the ability to explicitly program the applied force at every point in a vector field. This alone makes our application of potential field theory to micro devices unique and novel. Moreover, such fields can be composed using addition, sequential composition, ....

J. Reif and H. Wang. Social potential fields: A distributed behavioral control for autonoomous robots. In K. Goldberg, D. Halperin, J.-C. Latombe, and R. Wilson, editors, Algorithmic Foundations of Robotics, pages 431--459. K. Peters, Wellesley, MA, 1995.

....recent results from the theory of potential fields. It can be shown that certain PFFs that implement potential fields have this property, whereas fields without potential do not induce stable equilibria on all parts. Previous work has developed control strategies with artificial potential fields [42, 44, 65, 62], and discrete approximations to physical potential fields [11, 10] The fields employed in this paper are non artificial (i.e. physical) Artificial potential fields require a tight feedback loop, in which, at each clock tick, the robot senses its state and looks up a control (i.e. a vector) ....

John Reif and H. Wang. Social potential fields: A distributed behavioral control for autonoomous robots. In K. Goldberg, D. Halperin, J.-C. Latombe, and R. Wilson, editors, Algorithmic Foundations of Robotics (WAFR), pages 431--459. A. K. Peters, Ltd, Wellesley, MA, 1995.

....our results on the design and simulation [33] of snap fasteners to MEMS [52] At that time, work on force fields for manipulation had been limited to the artificial potential fields first developed by Khatib, Koditschek, and Brooks. 3 While potential fields have been widely used in robot control [43, 44, 57, 54], micro actuator arrays present us with the ability to explicitly program the applied force at every point in a vector field. Whereas previous work had developed control strategies with artificial potential fields, our fields are non artificial (i.e. physical) Artificial potential fields ....

John Reif and H. Wang. Social potential fields: A distributed behavioral control for autonoomous robots. In K. Goldberg, D. Halperin, J.-C. Latombe, and R. Wilson, editors, International Workshop on Algorithmic Foundations of Robotics (WAFR), pages 431--459. A. K. Peters, Wellesley, MA, 1995.

....strategies That is: can we characterize all those vector fields in which every part has stable equilibria Bohringer and Donald answered these questions by exploiting the theory of potential fields. Whereas previous work has developed control strategies with artificial potential fields [31, 32, 45, 43], our fields and the fields in [7, 8] are non artificial (i.e. physical) This alone makes our application of potential field theory to vibratory parts feeders unique and novel. Moreover, such fields can be composed using addition, sequential composition, or by parallel composition by ....

J. Reif and H. Wang. Social potential fields: A distributed behavioral control for autonoomous robots. In K. Goldberg, D. Halperin, J.-C. Latombe, and R. Wilson, editors, Algorithmic Foundations of Robotics, pages 431--459. K. Peters, Wellesley, MA, 1995.

....fields which induce no stable equilibrium in very simple parts. Fortunately, there is also good news. We present conditions for fields to induce well behaved equilibria when lifted, by exploiting the theory of potential fields. While potential fields have been widely used in robot control [30, 39, 38], micro actuator arrays present us with the ability to explicitly program the applied force at every point in a vector field. Whereas previous work has developed control strategies with artificial potential fields, our fields are non artificial (i.e. physical) This alone makes our application ....

J. Reif and H. Wang. Social potential fields: A distributed behavioral control for autonoomous robots. In K. Goldberg, D. Halperin, J.-C. Latombe, and R. Wilson, editors, Algorithmic Foundations of Robotics, pages 431--459. K. Peters, Wellesley, MA, 1995.

....fields which induce no stable equilibrium in very simple parts. Fortunately, there is also good news. We suggest conditions for fields to induce well behaved equilibria when lifted, by exploiting the theory of potential fields. While potential fields have been widely used in robot control [11, 14, 13], micro actuator arrays present us with the ability to explicitly program the applied force at every point in a vector field. Whereas previous work has developed control strategies with artificial potential fields, our fields are non artificial (i.e. physical) This alone makes our application ....

J. Reif and H. Wang. Social potential fields: A distributed behavioral control for autonoomous robots. In K. Goldberg, D. Halperin, J.-C. Latombe, and R. Wilson, editors, Algorithmic Foundations of Robotics, pages 431--459. K. Peters, Wellesley, MA, 1995.

....Most of this work is targeted for scientific visualization, or for the combined visualhaptic display of complex virtual reality environments. The control systems and abstractions in this work have been important in building our haptic system. Vector fields have been widely used in robot control [11, 12, 17, 16, 3], and these mathematical foundations were influential in our system design. Nonholonomic control and NHVF s were developed in the context of control for non linear geometric dynamics, and have a wide range of applications [1, 13, 2, 9, 14] There have been a number of elegant papers on processing ....

J. Reif and H. Wang. Social potential fields: A distributed behavioral control for autonoomous robots. In K. Goldberg, D. Halperin, J.-C. Latombe, and R. Wilson, editors, International Workshop on Algorithmic Foundations of Robotics (WAFR), pages 431--459. A. K. Peters, Wellesley, MA, 1995.

....For other, related papers, see references [5] 13] 45] 1.2 Related Work Until recently, work on force fields for manipulation has been dominated by the artificial potential fields pioneered by Khatib, Koditschek, and Brooks. 2 While potential fields have been widely used in robot control [29, 30, 43, 39], micro actuator arrays present us with the ability to explicitly program the applied force at every point in a vector field. 3 Several groups have described efforts to apply MEMS actuators to positioning, inspection, and assembly tasks with small parts [37, 3, 25, 13, 31, for example] ....

J. Reif and H. Wang. Social potential fields: A distributed behavioral control for autonoomous robots. In K. Goldberg, D. Halperin, J.-C. Latombe, and R. Wilson, editors, Algorithmic Foundations of Robotics (WAFR), pages 431--459. A. K. Peters, Ltd, Wellesley, MA, 1995.

....fields which induce no stable equilibrium in very simple parts. Fortunately, there is also good news. We present conditions for fields to induce well behaved equilibria when lifted, by exploiting the theory of potential fields. While potential fields have been widely used in robot control [36, 37, 52, 50], micro actuator arrays present us with the ability to explicitly program the applied force at every point in a vector field. Whereas previous work has developed control strategies with artificial potential fields, our fields are non artificial (i.e. physical) Artificial potential fields require ....

J. Reif and H. Wang. Social potential fields: A distributed behavioral control for autonoomous robots. In K. Goldberg, D. Halperin, J.-C. Latombe, and R. Wilson, editors, Algorithmic Foundations of Robotics, pages 431--459. K. Peters, Wellesley, MA, 1995.

....fields which induce no stable equilibrium in very simple parts. Fortunately, there is also good news. We present conditions for fields to induce well behaved equilibria when lifted, by exploiting the theory of potential fields. While potential fields have been widely used in robot control [32, 33, 42, 41], micro actuator arrays present us with the ability to explicitly program the applied force at every point in a vector field. Whereas previous work has developed control strategies with artificial potential fields, our fields are non artificial (i.e. physical) This alone makes our application ....

John Reif and H. Wang. Social potential fields: A distributed behavioral control for autonoomous robots. In K. Goldberg, D. Halperin, J.-C. Latombe, and R. Wilson, editors, Algorithmic Foundations of Robotics, pages 431--459. K. Peters, Wellesley, MA, 1995.

....our results on the design and simulation [33] of snap fasteners to MEMS [51] At that time, work on force fields for manipulation had been limited to the artificial potential fields first developed by Khatib, Koditschek, and Brooks. 3 While potential fields have been widely used in robot control [42, 43, 56, 53], micro actuator arrays present us with the ability to explicitly program the applied force at every point in a vector field. Whereas previous work had developed control strategies with artificial potential fields, our fields are non artificial (i.e. physical) Artificial potential fields ....

J. Reif and H. Wang. Social potential fields: A distributed behavioral control for autonoomous robots. In K. Goldberg, D. Halperin, J.-C. Latombe, and R. Wilson, editors, International Workshop on Algorithmic Foundations of Robotics (WAFR), pages 431-- 459. A. K. Peters, Wellesley, MA, 1995.

....our results on the design and simulation [34] of snap fasteners to MEMS [64] At that time, work on force fields for manipulation had been limited to the artificial potential fields first developed by Khatib, Koditschek, and Brooks. 2 While potential fields have been widely used in robot control [47, 48, 71, 66], micro actuator arrays present us with the ability to explicitly program the applied force at every point in a vector field. Whereas previous work had developed control strategies with artificial potential fields, our fields are non artificial (i.e. physical) Artificial potential fields ....

J. Reif and H. Wang. Social potential fields: A distributed behavioral control for autonoomous robots. In K. Goldberg, D. Halperin, J.-C. Latombe, and R. Wilson, editors, Algorithmic Foundations of Robotics (WAFR), pages 431--459. A. K. Peters, Ltd, Wellesley, MA, 1995.

....implement potential fields have this property, whereas fields International Conference on Robotics and Automation (ICRA) Leuven, Belgium, May 1998. without potential do not induce stable equilibria on all parts. Previous work has developed control strategies with artificial potential fields [17, 18, 26, 24], and discrete approximations to physical potential fields [6, 5] The fields employed in this paper are non artificial (i.e. physical) Artificial potential fields require a tight feedback loop, in which, at each clock tick, the robot senses its state and looks up a control (i.e. a vector) ....

J. Reif and H. Wang. Social potential fields: A distributed behavioral control for autonoomous robots. In K. Goldberg, D. Halperin, J.-C. Latombe, and R. Wilson, editors, International Workshop on Algorithmic Foundations of Robotics (WAFR), pages 431-- 459. A. K. Peters, Wellesley, MA, 1995.

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John H. Reif and Hongyan Wang, "Social potential fields: A distributed behavioral control for autonomous robots," Robotics and Autonomous Systems, vol. 27, no. 3, pp. 171--94, May 1999.

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. J. H. Reif and H. Wang, Social Potential Fields: A Distributed Behavioral Control for Autonomous Robots, Robotics and Autonomous Systems, Vol. 27, no.3, pp.171-194, (May 1999). Back to Top

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. J. H. Reif and H. Wang, Social Potential Fields: A Distributed Behavioral Control for Autonomous Robots, Robotics and Autonomous Systems, Vol. 27, no.3, pp.171-194, (May 1999). Back to Top

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REIF J., WANG H.: Social potential fields: A distributed behavioral control for autonomous robots. In K. Goldberg, D. Halperin, J.- C. Latombe, and R. Wilson, editors, International Workshop on Algorithmic Foundations of Robotics (WAFR) (1995), A. K. Peters, Wellesley, MA, 1995., pp. 431--459.

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Reif, J.H., Wang, H.: Social Potential Fields: A Distributed Behavioral Control for Autonomous Robots. In Goldberg, K., Halperin, D., Latombe, J.C., Wilson, R., eds.: The Algorithmic Foundations of Robotics. A. K. Peters, Boston, MA (1995) 331 -- 345

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J. Reif and H. Wang, "Social potential fields: A distributed behavioral control for autonomous robots," in K. Goldberg, D. Halperin, J.-C. Latombe, and R. Wilson, editors, International Workshop on Algorithmic Foundations of Robotics (WAFR). A. K. Peters, Wellesley, MA, 1995.

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J. Reif and H. Wang. Social potential fields: A distributed behavioral control for autonomous robots. In Robotics and Autonomous Systems, volume 27 (3), pages 171--194, 1999.

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J. Reif and H. Wang, "Social potential fields: A distributed behavioral control for autonomous robots," in Workshop on the Algorithmic Foundations of Robotics, 1998.

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J. Reif and H. Wang. Social potential fields: A distributed behavioral control for autonomous robots. In Workshop on the Algorithmic Foundations of Robotics, 1998.

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J. Reif and H. Wang. Social potential fields: A distributed behavioral control for autonomous robots. In K. Goldberg, D. Halperin, J.-C. Latombe, and R. Wilson, editors, International Workshop on Algorithmic Foundations of Robotics (WAFR), pages 431--459. A. K. Peters, Wellesley, MA, 1995.

No context found.

John Reif and H. Wang. Social potential fields: A distributed behavioral control for autonoomous robots. In K. Goldberg, D. Halperin, J.-C. Latombe, and R. Wilson, editors, International Workshop on Algorithmic Foundations of Robotics (WAFR), pages 431--459. A. K. Peters, Wellesley, MA, 1995.

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