Motion Planning for a Modular Self-Reconfiguring Robotic System
Conference Paper, Proceedings of 5th International Symposium on Distributed Autonomous Robotic Systems (DARS '00), pp. 165 - 175, October, 2000
Abstract
In this paper, we address the issue of motion planning for a bipartite class of modular self-reconfiguring robotic system (I-Cubes) that is a collection of active elements providing reconfiguration (3-DOF manipulators called links) and passive elements acting as connectors (cubes). The links, capable of attaching/detaching themselves from/to cubes, can position and orient the cubes.
Current solutions for motion planning and reconfiguration of I-Cubes include multilayered planners that divide a given problem into tractable sub-problems to be evaluated using heuristic methods. The system implementation, its representation in simulation, search algorithms resulting from this representation, and simulation examples are presented.
BibTeX
@conference{Unsal-2000-8147,author = {Cem Unsal and Han Kiliccote and Mark Patton and Pradeep Khosla},
title = {Motion Planning for a Modular Self-Reconfiguring Robotic System},
booktitle = {Proceedings of 5th International Symposium on Distributed Autonomous Robotic Systems (DARS '00)},
year = {2000},
month = {October},
editor = {L. E. PArker, G. Bekey, J. Barhen},
pages = {165 - 175},
publisher = {Springer},
}
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