Hierarchical planning for self-reconfiguring robots using module kinematics

Fitch, R; McAllister, R

Hierarchical planning for self-reconfiguring robots using module kinematics

Fitch, R

McAllister, R

Permalink

Publication Type:: Chapter
Citation:: 2012, 83 STAR pp. 477 - 490
Issue Date:: 2012-12-13

Closed Access

	Filename	Description	Size
	10.1007_978-3-642-32723-0_34.pdf	Published version	2 MB	Adobe PDF	View/Open

Copyright Clearance Process

Recently Added
In Progress
Closed Access

This item is closed access and not available.

Full metadata record

Field	Value	Language
dc.contributor.author	Fitch, R https://orcid.org/0000-0003-2215-5188	en_US
dc.contributor.author	McAllister, R	en_US
dc.date.issued	2012-12-13	en_US
dc.identifier.citation	2012, 83 STAR pp. 477 - 490	en_US
dc.identifier.isbn	9783642327223	en_US
dc.identifier.uri	http://hdl.handle.net/10453/120045
dc.description.abstract	Reconfiguration allows a self-reconfiguring modular robot to adapt to its environment. The reconfiguration planning problem is one of the key algorithmic challenges in realizing self-reconfiguration. Many existing successful approaches rely on grouping modules together to act as meta-modules. However, we are interested in reconfiguration planning that does not impose fixed meta-module relationships but instead forms cooperative relationships between modules dynamically. This approach avoids the need to hand-code meta-module motions and potentially allows reconfiguration with fewer modules. In this paper we present a general two level reconfiguration framework. The top level plans in module-connector space using distributed dynamic programming. The lower level accepts a transition function for the kinematic model of the chosen module type as input. As an example, we implement such a transition function for the 3R, SuperBot-style module. Although not explored in this paper, this general approach is naturally extended to consider power use, clock time, or other quantities of interest. © 2013 Springer-Verlag.	en_US
dc.relation.isbasedon	10.1007/978-3-642-32723-0_34	en_US
dc.subject.classification	Industrial Engineering & Automation	en_US
dc.title	Hierarchical planning for self-reconfiguring robots using module kinematics	en_US
dc.type	Chapter
utslib.citation.volume	83 STAR	en_US
utslib.for	080101 Adaptive Agents and Intelligent Robotics	en_US
utslib.for	091303 Autonomous Vehicles	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	closed_access
pubs.publication-status	Published	en_US
pubs.volume	83 STAR	en_US

Abstract:

Reconfiguration allows a self-reconfiguring modular robot to adapt to its environment. The reconfiguration planning problem is one of the key algorithmic challenges in realizing self-reconfiguration. Many existing successful approaches rely on grouping modules together to act as meta-modules. However, we are interested in reconfiguration planning that does not impose fixed meta-module relationships but instead forms cooperative relationships between modules dynamically. This approach avoids the need to hand-code meta-module motions and potentially allows reconfiguration with fewer modules. In this paper we present a general two level reconfiguration framework. The top level plans in module-connector space using distributed dynamic programming. The lower level accepts a transition function for the kinematic model of the chosen module type as input. As an example, we implement such a transition function for the 3R, SuperBot-style module. Although not explored in this paper, this general approach is naturally extended to consider power use, clock time, or other quantities of interest. © 2013 Springer-Verlag.

Please use this identifier to cite or link to this item:

http://hdl.handle.net/10453/120045