Programming for modular reconfigurable robots

Composed of multiple modular robotic units, self-reconfigurable modular robots are metamorphic systems that can autonomously rearrange the modules and form different configurations depending on dynamic environments and tasks. The goal of self-reconfiguration is to determine how to change connectivit...

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Veröffentlicht in:	Programming and computer software Jg. 38; H. 1; S. 13 - 23
Hauptverfasser:	Gorbenko, A. A., Popov, V. Yu
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	Dordrecht SP MAIK Nauka/Interperiodica 01.01.2012 Springer Nature B.V
Schlagworte:	Algorithms Artificial Intelligence Computer Science Configurations Graph matching Modular systems Modular units Modules Operating Systems Reconfiguration Robots Software Engineering Software Engineering/Programming and Operating Systems
ISSN:	0361-7688, 1608-3261
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Abstract	Composed of multiple modular robotic units, self-reconfigurable modular robots are metamorphic systems that can autonomously rearrange the modules and form different configurations depending on dynamic environments and tasks. The goal of self-reconfiguration is to determine how to change connectivity of modules to transform the robot from the current configuration to the goal configuration subject to restrictions of physical implementation. The existing reconfiguration algorithms use different methods, such as divide-and-conquer, graph matching, and the like, to reduce the reconfiguration cost. However, an optimal solution with a minimal number of reconfiguration steps has not been found yet. The optimal reconfiguration planning problem consists in finding the least number of reconfiguration steps transforming the robot from one configuration to another. This is an NP-complete problem. In this paper, we describe an approach to solve this problem. The approach is based on constructing logical models of the problem under study.
AbstractList	Composed of multiple modular robotic units, self-reconfigurable modular robots are metamorphic systems that can autonomously rearrange the modules and form different configurations depending on dynamic environments and tasks. The goal of self-reconfiguration is to determine how to change connectivity of modules to transform the robot from the current configuration to the goal configuration subject to restrictions of physical implementation. The existing reconfiguration algorithms use different methods, such as divide-and-conquer, graph matching, and the like, to reduce the reconfiguration cost. However, an optimal solution with a minimal number of reconfiguration steps has not been found yet. The optimal reconfiguration planning problem consists in finding the least number of reconfiguration steps transforming the robot from one configuration to another. This is an NP-complete problem. In this paper, we describe an approach to solve this problem. The approach is based on constructing logical models of the problem under study.
Author	Gorbenko, A. A. Popov, V. Yu
Author_xml	– sequence: 1 givenname: A. A. surname: Gorbenko fullname: Gorbenko, A. A. email: gorbenko.aa@gmail.com organization: Department of Mathematics and Mechanics, Ural State University – sequence: 2 givenname: V. Yu surname: Popov fullname: Popov, V. Yu organization: Department of Mathematics and Mechanics, Ural State University
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Snippet	Composed of multiple modular robotic units, self-reconfigurable modular robots are metamorphic systems that can autonomously rearrange the modules and form...
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SubjectTerms	Algorithms Artificial Intelligence Computer Science Configurations Graph matching Modular systems Modular units Modules Operating Systems Reconfiguration Robots Software Engineering Software Engineering/Programming and Operating Systems
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Title	Programming for modular reconfigurable robots
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