A Multi-layered Planner for Self-Reconfiguration of a Uniform Group of I-Cube Modules
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 1, pp. 598 - 605, October, 2001
Abstract
In this paper, we present a multilayered planner for the motion of modules in a uniform group of I-Cube self-reconfiguring modular robotic system. The planner uses metacubes, the high-level abstraction of 8C16L groups. It combines distributed approaches at the high-level with lowlevel trajectory computation for the actual modules which can be completed in O(n) steps where n is the number of the cubes in the system, and pre-defined rules for link motions. Mechatronic properties of the latest version of the reconfiguring modules are presented as well as results of the latest hardware and software experiments with the I-Cube modules.
BibTeX
@conference{Unsal-2001-8316,author = {Cem Unsal and Pradeep Khosla},
title = {A Multi-layered Planner for Self-Reconfiguration of a Uniform Group of I-Cube Modules},
booktitle = {Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {2001},
month = {October},
volume = {1},
pages = {598 - 605},
}
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