https://m2.mtmt.hu/ eng 2026-07-27 05:46 JournalArticle 2617360 VALIDATED true 0 2018-09-12T20:22:02.000+0000 false 2617360 2024-07-04T12:00:03.604+0000 2024-07-04T11:57:55.659+0000 2008-04-02T22:00:00.000+0000 true 10012730 Harmati István /api/author/10012730 Author true 10012730 2024-07-04T11:57:48.243+0000 2024-07-04T11:57:48.243+0000 2024-07-04T11:57:55.666+0000 true 10088017 Szatmári Erika /api/admin/10088017 Admin true true false true 24 24 /api/publicationtype/24 PublicationType 1 true 24 JournalArticle true 10000059 Article true 24 24 /api/publicationtype/24 PublicationType 1 true 24 JournalArticle /api/subtype/10000059 Szakcikk SubType 101 true 10000059 true 1 /api/category/1 Category true 1 Harmati, István Semi-straified motion planning of multi-agent manipulation true true /api/journal/1341165 REVIEWED true false 1341165 false 1341165 true 1343-0130 1883-8014 Journal FOREIGN 5 5 248 256 248 9 2001 The paper addresses a manipulation problem based on kinematic model where the equations of the motion of the system can change discontinuously depending on the actual state of the system. In this case, the configuration space is stratified. The stratified control theory using the smooth motion planning algorithm promises a powerful alternative for this manipulation problem, however, it meets also some significant difficulties. The paper presents the main steps of developing computational frame work and some improvements for stratified motion planning. The concept proposes a semi-stratified method which decomposes the manipulation problem into stratified motion planning and pure finger relocation through the special selection of the reference points. Because of the different type of computational tasks (symbolic, numerical) , the realization steps are also investigated. true 2020 bme-pa-migracio-20014-06-20-v01 true true true false true false NONE 2024-07-04 false 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 false false false false 2014-08-13T06:38:54.000+0000 2014-06-23T17:04:30.000+0000 Irányítástechnika és Informatika Tanszék (BME / VIK) 2 12 1 3 0 false Language 10002 /api/language/10002 Angol English true 2 true PersonAuthorship 5228260 /api/authorship/5228260 1 0.333 true false Author 10012730 /api/author/10012730 Harmati István true 10012730 true Harmati István true false false AuthorshipType 1 /api/authorshiptype/1 0 true 0 true false 19835480 true PersonAuthorship 5228261 /api/authorship/5228261 2 0.333 false false Author 1366974 /api/author/1366974 Lantos Béla true 1366974 true Lantos Béla true false false AuthorshipType 1 /api/authorshiptype/1 0 true 0 true false 19835479 true PersonAuthorship 5228262 /api/authorship/5228262 3 0.33333334 false true Payandeh Shahram true false false AuthorshipType 1 /api/authorshiptype/1 0 true 0 true false 19835478 true PublicationIdentifier 823648 /api/publicationidentifier/823648 SwordSource 10011 /api/publicationsource/10011 PublicationSourceType 10007 /api/publicationsourcetype/10007 true true true Műegyetem Digitális Archívum Műegyetem Digitális Archívum https://repozitorium.omikk.bme.hu/handle/10890/@@@ true true true false NO 2643 https://repozitorium.omikk.bme.hu/handle/10890/2643 false 1447281 true PublicationIdentifier 26760972 /api/publicationidentifier/26760972 PlainSource 6 /api/publicationsource/6 PublicationSourceType 10001 /api/publicationsourcetype/10001 true true true DOI DOI https://doi.org/@@@ true true 6 true 10.20965/jaciii.2001.p0248 https://doi.org/10.20965/jaciii.2001.p0248 false true /api/publication/2617360 <div class="JournalArticle Publication long-list"> <div class="authors"> <img title="Forrásközlemény" style="float: left" src="/frontend/resources/grid/publication-core-icon.png"> <div class="autype autype0"> <span class="author-name" mtid="10012730"><a href="/gui2/?type=authors&mode=browse&sel=10012730" target="_blank">Harmati István (<span class="authorship-author-name">Harmati István</span> <span class="authorAux-mtmt"> Irányításelmélet</span>) </a> </span> <span class="author-affil"><span title="Budapest University of Technology and Economics">BUTE</span>/<span title="Faculty of Electrical Engineering and Informatics">FEEI</span>/Department of Control Engineering and Information Technology</span> ;&nbsp;&nbsp;&nbsp; <span class="author-name" mtid="1366974"><a href="/gui2/?type=authors&mode=browse&sel=1366974" target="_blank">Lantos Béla (<span class="authorship-author-name">Lantos Béla</span> <span class="authorAux-mtmt"> Műszaki kibernetika</span>) </a> </span> <span class="author-affil"><span title="Budapest University of Technology and Economics">BUTE</span>/<span title="Faculty of Electrical Engineering and Informatics">FEEI</span>/Department of Control Engineering and Information Technology</span> ;&nbsp;&nbsp;&nbsp; <span class="author-name" >Payandeh Shahram </span> </div> </div> <div class="title"><a href="/gui2/?mode=browse&params=publication;2617360" target="_blank">Semi-straified motion planning of multi-agent manipulation</a></div> <div> <span class="journal-title">JOURNAL OF ADVANCED COMPUTATIONAL INTELLIGENCE AND INTELLIGENT INFORMATICS</span> <span class="journal-issn">(<a target="_blank" href="https://portal.issn.org/resource/ISSN/1343-0130">1343-0130</a> <a target="_blank" href="https://portal.issn.org/resource/ISSN/1883-8014">1883-8014</a>)</span>: <span class="journal-volume">5</span> <span class="journal-issue">5</span> <span class="page"> pp 248-256 </span> <span class="year">(2001)</span> </div> <div class="pub-footer"> <span class="language" xmlns="http://www.w3.org/1999/html">Language: English | </span> <span class="identifiers"> <span class="id identifier oa_none" title="none"> <a style="color:black" title="2643" target="_blank" href="https://repozitorium.omikk.bme.hu/handle/10890/2643"> Műegyetem Digitális Archívum </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:black" title="10.20965/jaciii.2001.p0248" target="_blank" href="https://doi.org/10.20965/jaciii.2001.p0248"> DOI </a> </span> </span> <div class="mtid"><span class="long-pub-mtid">Publication: 2617360</span> | <span class="status-data status-VALIDATED"> Validated </span> <span class="oldId">Old id: 2617360</span> | Core | <span class="type-subtype">Journal Article ( Article ) </span> | <span class="pub-category">Scientific</span> | <span class="publication-sourceOfData">kézi felvitel</span> </div> <div class="lastModified">Last Modified: 2024.07.04. 13:57 Erika Szatmári (BME admin4) </div> </div></div>