16 October 2000 Scalable parallel algorithm for configuration planning for self-reconfiguring robots
Author Affiliations +
Proceedings Volume 4196, Sensor Fusion and Decentralized Control in Robotic Systems III; (2000) https://doi.org/10.1117/12.403736
Event: Intelligent Systems and Smart Manufacturing, 2000, Boston, MA, United States
Abstract
In this paper we present algorithms for planning the motion of robotic Molecules on a substrate of other Molecules. Our approach is to divide self-reconfiguration planning into three levels: trajectory planning, configuration planning, and task-level planning. This paper focuses on algorithms for configuration planning, moving a set of Molecules from a starting configuration to a goal configuration. We describe our scaffold planning approach in which the interior of a structure contains 3D tunnels. This allows Molecules to move within a structure as well as on the surface, simplifying Molecule motion planning as well as increasing parallelism. In addition, we present a new gripper-type connection mechanism for the Molecule which does not require power to maintain connections.
© (2000) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Keith D. Kotay, Keith D. Kotay, Daniela L. Rus, Daniela L. Rus, } "Scalable parallel algorithm for configuration planning for self-reconfiguring robots", Proc. SPIE 4196, Sensor Fusion and Decentralized Control in Robotic Systems III, (16 October 2000); doi: 10.1117/12.403736; https://doi.org/10.1117/12.403736
PROCEEDINGS
11 PAGES


SHARE
Back to Top