Development of Motion Planning Method for Multi-DOF Robots Based on Distributed Architecture and Discrete Modeling

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This research aims at the development of control methods for autonomous robots with large degrees of freedom, founded on distributed architecture and discrete modeling of dynamical systems. Motion planning based on the discretization of configuration space is able to cope with complex environments but it is applicable only to relatively small dimensions. Hierarchical architecture, which is widely accepted in the control of large-scale systems, is not able to fully exploit the multi-DOF characteristic of the robot. The goal of research is to develop a new control framework which combines the advantages of both discrete modeling and distributed control.