A Distributed Reconfiguration Planning Algorithm for Modular Robots

Self-reconfigurable modular robots are usually composed of multiple modules with uniform docking interfaces that can be transformed into different configurations by themselves. The reconfiguration planning problem is finding what sequence of reconfiguration actions are required for one arrangement o...

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Bibliographic Details
Published in:IEEE robotics and automation letters Vol. 4; no. 4; pp. 4231 - 4238
Main Authors: Liu, Chao, Whitzer, Michael, Yim, Mark
Format: Journal Article
Language:English
Published: Piscataway IEEE 01.10.2019
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:
Algorithms
Cellular and modular robots
Configurations
Connectors
Face
Hardware
Modules
motion and path planning
path planning for multiple mobile robots or agents
Planning
Reconfigurable hardware
Reconfiguration
Robots
Task analysis
Vegetation
ISSN:2377-3766, 2377-3766
Online Access:Get full text
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Summary:Self-reconfigurable modular robots are usually composed of multiple modules with uniform docking interfaces that can be transformed into different configurations by themselves. The reconfiguration planning problem is finding what sequence of reconfiguration actions are required for one arrangement of modules to transform into another. We present a novel reconfiguration planning algorithm for the SMORES form of modular robots. The algorithm compares the initial configuration with the goal configuration efficiently. The reconfiguration actions can be executed in a distributed manner so that each module can efficiently finish its reconfiguration task which results in a global reconfiguration for the system. In the end, the algorithm is demonstrated on the SMORES-EP self-reconfigurable modular robot hardware and some reconfiguration task examples are provided.
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ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2019.2930432