ASAPs: asynchronous hybrid self-reconfiguration algorithm for porous modular robotic structures

Programmable matter refers to material that can be programmed to alter its physical properties, including its shape. Such matter can be built as a lattice of attached robotic modules, each seen as an autonomous agent with communication and motion capabilities. Self-reconfiguration consists in changi...

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Bibliographic Details
Published in:Autonomous robots Vol. 48; no. 7; p. 16
Main Authors: Bassil, Jad, Piranda, Benoît, Makhoul, Abdallah, Bourgeois, Julien
Format: Journal Article
Language:English
Published: New York Springer US 01.10.2024
Springer Nature B.V
Springer Verlag
Subjects:
Algorithms
Artificial Intelligence
Complexity
Computer Imaging
Computer Science
Control
Cryptography and Security
Distributed, Parallel, and Cluster Computing
Emerging Technologies
Engineering
Mechatronics
Modeling and Simulation
Modular structures
Modules
Multiagent Systems
Pattern Recognition and Graphics
Physical properties
Porous materials
Reconfiguration
Robotics
Robotics and Automation
Software Engineering
Three dimensional flow
Traffic control
Traffic planning
Traffic signals
Ubiquitous Computing
Vision
Max-flow
Porous structure
Self-reconfiguration
Modular robots
ISSN:0929-5593, 1573-7527
Online Access:Get full text
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Summary:Programmable matter refers to material that can be programmed to alter its physical properties, including its shape. Such matter can be built as a lattice of attached robotic modules, each seen as an autonomous agent with communication and motion capabilities. Self-reconfiguration consists in changing the initial arrangement of modules to form a desired goal shape, and is known to be a complex problem due to its algorithmic complexity and motion constraints. In this paper, we propose to use a max-flow algorithm as a centralized global planner to determine the concurrent paths to be traversed by modules through a porous structure composed of 3D Catoms meta-modules with the aim of increasing the parallelism of motions, and hence decreasing the self-reconfiguration time. We implement a traffic light system as a distributed asynchronous local planning algorithm to control the motions to avoid collisions. We evaluated our algorithm using VisibleSim simulator on different self-reconfiguration scenarios and compared the performance with an existing fully distributed synchronous self-reconfiguration algorithm for similar structures. The results show that the new method provides a significant gain in self-reconfiguration time and energy efficiency.
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ISSN:0929-5593
1573-7527
DOI:10.1007/s10514-024-10171-7