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16 October 2000 Connectivity planning for closed-chain reconfiguration
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Proceedings Volume 4196, Sensor Fusion and Decentralized Control in Robotic Systems III; (2000)
Event: Intelligent Systems and Smart Manufacturing, 2000, Boston, MA, United States
Modular reconfigurable robots can change their connectivity from one arrangement to another. Performing this change involves a difficult planning problem. We study this problem by representing robot configurations as graphs, and giving an algorithm that can transform any configuration of a robot into any other in O (log n) steps. Here n is the number of modules which can attach to more than two other modules. We also show that O(log n) is best possible.
© (2000) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Mark H. Yim, David Goldberg, and Arancha Casal "Connectivity planning for closed-chain reconfiguration", Proc. SPIE 4196, Sensor Fusion and Decentralized Control in Robotic Systems III, (16 October 2000);


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