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Multi-robot Coordination Using Generalized Social Potential Fields

We present a novel approach to compute collision-free paths for multiple robots subject to local coordination constraints. More specifically, given a set of robots, their initial and final configurations, and possibly some additional coordination constraints, our goal is to compute a collision-free path between the initial and final configuration that maintains the constraints. To solve this problem, our approach generalizes the social potential field method to be applicable to both convex and nonconvex polyhedra. Social potential fields are then integrated into a physics-based motion planning framework which uses constrained dynamics to solve the motion planning problem. Our approach is able to plan for over 200 robots while averaging about 110 ms per step in a variety of environments [Russell Gayle, William Moss, Ming C. Lin, and Dinesh Manocha].

http://gamma.cs.unc.edu/CSP/

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Quatermass II - Episode 1 - The Bolts - 2/4

Quatermass II

From Wikipedia, the free encyclopedia
http://en.wikipedia.org/wiki/Quatermass_II

Quatermass II is a British science-fiction serial, originally broadcast by BBC Television in the autumn of 1955. It is the second in the Quatermass series by writer Nigel Kneale, and the first of those serials to survive in its entirety in the BBC archives. It is also the earliest surviving complete British science-fiction television production.

The serial sees Professor Bernard Quatermass of the British Experimental Rocket Group being asked to examine strange meteorite showers. His investigations lead to his uncovering a conspiracy involving alien infiltration at the highest levels of the British Government. As even some of Quatermass's closest colleagues fall victim to the alien influence, he is forced to use his own unsafe rocket prototype, which recently caused a nuclear disaster at an Australian testing range, to prevent the aliens from taking over mankind.

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