Distributed tunneling reconfiguration of cubic modular robots without meta-module’s disassembling in severe space requirement
This paper studies a tunneling-based reconfiguration algorithm for cubic modular robots. Tunneling-based reconfiguration is a promising approach for cubic modular robot reconfiguration in severe space requirements. This is because a tunneling modular robot only uses spaces occupied by the start and...
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| Vydáno v: | Robotics and Autonomous Systems Ročník 124; s. 103369 |
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| Médium: | Journal Article |
| Jazyk: | angličtina japonština |
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Elsevier B.V
01.02.2020
Elsevier BV |
| Témata: | |
| ISSN: | 0921-8890, 1872-793X |
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| Abstract | This paper studies a tunneling-based reconfiguration algorithm for cubic modular robots. Tunneling-based reconfiguration is a promising approach for cubic modular robot reconfiguration in severe space requirements. This is because a tunneling modular robot only uses spaces occupied by the start and goal configurations. However, previously proposed methods have a limitation on the arrangement of the start and goal configurations, in which the overlapped part between them must be connected. We propose a tunneling reconfiguration algorithm that removes the limitation and is available for cases with multi-overlapped parts between the start and goal configurations. It is often the case that a tunneling-based reconfiguration assumes the use of a meta-module-based structure to maintain the connectivity and mobility of the robot structure. However, in previous methods, the meta-modules often come apart during the tunneling process, and each module belongs to a different meta-module before and after the reconfiguration. The proposed algorithm also solves this problem. We implement the algorithm in a distributed form and prove its completeness for assumed robot structures. We examine the proposed tunneling algorithm by simulation.
•We study tunneling-based reconfiguration of sliding-only cubic modular robots.•We implement the proposed reconfiguration algorithm in a distributed form.•The algorithm uses only the space inside start and goal configurations.•The algorithm is applicable to any arrangement of the start and goal configurations.•The method prevents each meta-module from being disassembled.•We examined the algorithm via simulations by multi-thread programing.•We provide proofs of the completeness of the proposed algorithm. |
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| AbstractList | This paper studies a tunneling-based reconfiguration algorithm for cubic modular robots. Tunneling-based reconfiguration is a promising approach for cubic modular robot reconfiguration in severe space requirements. This is because a tunneling modular robot only uses spaces occupied by the start and goal configurations. However, previously proposed methods have a limitation on the arrangement of the start and goal configurations, in which the overlapped part between them must be connected. We propose a tunneling reconfiguration algorithm that removes the limitation and is available for cases with multi-overlapped parts between the start and goal configurations. It is often the case that a tunneling-based reconfiguration assumes the use of a meta-module-based structure to maintain the connectivity and mobility of the robot structure. However, in previous methods, the meta-modules often come apart during the tunneling process, and each module belongs to a different meta-module before and after the reconfiguration. The proposed algorithm also solves this problem. We implement the algorithm in a distributed form and prove its completeness for assumed robot structures. We examine the proposed tunneling algorithm by simulation.
•We study tunneling-based reconfiguration of sliding-only cubic modular robots.•We implement the proposed reconfiguration algorithm in a distributed form.•The algorithm uses only the space inside start and goal configurations.•The algorithm is applicable to any arrangement of the start and goal configurations.•The method prevents each meta-module from being disassembled.•We examined the algorithm via simulations by multi-thread programing.•We provide proofs of the completeness of the proposed algorithm. |
| ArticleNumber | 103369 |
| Author | Kawano, Hiroshi |
| Author_xml | – sequence: 1 givenname: Hiroshi surname: Kawano fullname: Kawano, Hiroshi email: hiroshi.kawano.yb@hco.ntt.co.jp organization: NTT Corporation NTT Communication Science Laboratories, Kanagawa 2430198, Japan |
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| References | H. Kawano, Distributed tunneling reconfiguration of sliding cubic modular robots in severe space requirements, in: Proc.14th Int. Symposium on Distributed Autonomous Robotic Systems, paper no. 1, Boulder, CO, 2018. Stoy, Brandt, Christensen (b1) 2010 D. Rus, M. Vona, A basis for self-reconfiguring robots using crystal modules, in: Proc.2000 IEEE/RSJ Int. Conf. Intelligent Robots and Systems, Takamatsu, Japan, 2000, pp. 2194-2202. Y. Suzuki, N. Inou, H. Kimura, M. Koseki, Reconfigurable group robots adaptively transforming a mechanical structure - Crawl motion and adaptive transformation with new algorithms-, in: Proc. 2006 IEEE Int. Conf. on Intelligent Robots and Systems, Beijing, China, October, 2006, pp. 2200-2205. Y. Suzuki, N. Inou, M. Koseki, H. Kimura, Reconfigurable group robots adaptively transforming a mechanical structure - numerical expression of criteria for structural transformation and automatic motion planning method –, in: Proc.2007 IEEE Int. Conf. Intelligent Robots and Systems, San Diego, CA, 2007, pp. 2361-2367. Vassilvitskii, Yim, Suh (b5) 2002 Romanishin, Gilpin, Rus (b12) 2013 M. Gajamohan, M. Merz, I. Thommen, R. D’Andrea, The cubli: A cube that can jump up and balance, in: Proc. 2012 IEEE/RSJ International Conference of Intelligent Robots and Systems, Algarve, Portugal, 2012, pp. 3722-3727. D. Rus, M. Vona, Self-reconfiguration planning with compressible unit modules, in: Proc.1999 IEEE Int. Conf. Robotics and Automation, Detroit, MI, 1999, pp. 2513-2520. Kawano (b20) 2016 Y. Suzuki, N. Inou, M. Koseki, H. Kimura, Reconfigurable group robots adaptively transforming a mechanical structure - Extended criteria for load-adaptive transformations, in: Proc.2008 IEEE Int. Conf. Intelligent Robots and Systems, Nice, France, 2008, pp. 877-882. Fitch, Butler, Rus (b10) 2005 Suzuki (b16) 2017 Kawano (b21) 2017 Fitch, Butler, Rus (b9) 2003 J.W. Romanishin, K. Gilpin, S. Claici, D. Rus, 3D M-Blocks: Self-reconfiguring robots capable of locomotion via pivoting in three dimensions, in: Proc. 2015 IEEE International Conference on Robotics and Automation, Seattle, WA, 2015, pp. 1925-1932. H. Kawano, Complete reconfiguration algorithm for sliding cube- shaped modular robots with only sliding motion primitive, in: Proc.2015 IEEE/RSJ Int. Conf. Intelligent Robots and Systems, Hamburg, Germany, 2015, pp. 3276-3283. K. Hosokawa, T. Tsujimori, T. Fuji, H. Kaetsu, H. Asama, Y. Kuroda, I. Endo, Self-organizing collective robots with morphogenesis in a vertical plane, in: Proc.1998 IEEE Int. Conf. Robotics and Automation, Leuven, Belgium, 1998, pp. 2858-2863. S. Vassilvitskii, J. Kubica, E. Rieffel, On the general reconfiguration problem for expanding cube style modular robots, in: Proc.2002 IEEE Int. Conf. Robotics and Automation, Washington DC, 2002, pp. 801-808. Aloupis, Collette, Damian, Demaine, Flatland, Langerman, O’Rourke, Ramaswami, Sacristán, Wuhrer (b7) 2009; 42 Fitch, Butler (b11) 2008; 27 Sung, Bern, Romanishin, Rus (b15) 2015 Buttler, Fitch, Rus (b4) 2002; 7 Vassilvitskii (10.1016/j.robot.2019.103369_b5) 2002 10.1016/j.robot.2019.103369_b18 10.1016/j.robot.2019.103369_b19 Suzuki (10.1016/j.robot.2019.103369_b16) 2017 Buttler (10.1016/j.robot.2019.103369_b4) 2002; 7 10.1016/j.robot.2019.103369_b8 Fitch (10.1016/j.robot.2019.103369_b9) 2003 10.1016/j.robot.2019.103369_b6 10.1016/j.robot.2019.103369_b3 10.1016/j.robot.2019.103369_b2 Stoy (10.1016/j.robot.2019.103369_b1) 2010 Aloupis (10.1016/j.robot.2019.103369_b7) 2009; 42 Kawano (10.1016/j.robot.2019.103369_b21) 2017 Fitch (10.1016/j.robot.2019.103369_b11) 2008; 27 10.1016/j.robot.2019.103369_b23 10.1016/j.robot.2019.103369_b13 10.1016/j.robot.2019.103369_b22 Fitch (10.1016/j.robot.2019.103369_b10) 2005 10.1016/j.robot.2019.103369_b17 Kawano (10.1016/j.robot.2019.103369_b20) 2016 Romanishin (10.1016/j.robot.2019.103369_b12) 2013 10.1016/j.robot.2019.103369_b14 Sung (10.1016/j.robot.2019.103369_b15) 2015 |
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Kawano, Distributed tunneling reconfiguration of sliding cubic modular robots in severe space requirements, in: Proc.14th Int. Symposium on Distributed Autonomous Robotic Systems, paper no. 1, Boulder, CO, 2018. – reference: K. Hosokawa, T. Tsujimori, T. Fuji, H. Kaetsu, H. Asama, Y. Kuroda, I. Endo, Self-organizing collective robots with morphogenesis in a vertical plane, in: Proc.1998 IEEE Int. Conf. Robotics and Automation, Leuven, Belgium, 1998, pp. 2858-2863. – reference: M. Gajamohan, M. Merz, I. Thommen, R. D’Andrea, The cubli: A cube that can jump up and balance, in: Proc. 2012 IEEE/RSJ International Conference of Intelligent Robots and Systems, Algarve, Portugal, 2012, pp. 3722-3727. – reference: H. Kawano, Complete reconfiguration algorithm for sliding cube- shaped modular robots with only sliding motion primitive, in: Proc.2015 IEEE/RSJ Int. Conf. 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| Title | Distributed tunneling reconfiguration of cubic modular robots without meta-module’s disassembling in severe space requirement |
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