Reconfiguration Planning for Heterogeneous Self-Reconfiguring Robots

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RECONFIGURATION PLANNING FOR HETEROGENEOUS SELF-RECONFIGURING ROBOTS

Abstract: Current research in self-reconfiguring robots focuses predominantly on systems of identical modules. However, allowing modules of varying types, with different sensors,
for example, is of practical interest. In this paper, we propose the development of an algorithmic basis for heterogeneous self-reconfiguring systems. We demonstrate algorithmic feasibility by presenting O(n2) time centralized and O(n3) time decentralized solutions to the reconfiguration problem for n non-identical modules. As our centralized time bound is equal to the best published
homogeneous solution, we argue that space, as opposed to time, is the critical resource in the reconfiguration problem. Our results encourage the development both of applications that use  heterogeneous self-reconfiguration, and also heterogeneous hardware systems.

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Modeling Lattice Modular Reconfigurable Systems with Space Groups

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MODELING LATTICE MODULAR RECONFIGURABLE SYSTEMS WITH SPACE GROUPS

by Nicolas Brener, Faiz Ben Amar, Philippe Bidaud with Laboratoire de Robotique de Paris

Several modular systems have been developed, one can distinguish lattice systems [1], [2], [3], [4], [5], [6] and chain type
systems [7], [8]. A review on these systems can be found in [9]. Today there is no theoretical background for the kinematical
design of modular systems. To design a new module one must…

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Hormone-Inspired Self-Organization and Distributed Control of Robotic Swarms

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HORMONE-INSPIRED SELF-ORGANIZATION AND DISTRIBUTED CONTROL OF ROBOTIC SWARMS

Abstract: The control of robot swarming in a distributed manner is a difficult problem because global behaviors must emerge as a result of many local actions. This paper uses a bio-inspired control method called the Digital Hormone Model (DHM) to control the tasking and executing of robot swarms based on local communication, signal propagation, and stochastic reactions. The DHM model is probabilistic, dynamic, fault-tolerant, computationally efficient, and can be easily tasked to change global behavior. Different from most existing distributed control and learning mechanisms, DHM considers the topological structure of the organization, supports dynamic reconfiguration and self-organization, and requires no globally unique identifiers for individual robots. The paper describes the DHM and presents the experimental results on simulating biological observations in the forming of feathers, and simulating wireless communicated swarm behavior at a large scale for attacking target, forming sensor networks, self-repairing, and avoiding pitfalls in mission execution.

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Hierarchical Motion Planning for Self-reconfigurable Modular Robots

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HIERARCHICAL MOTION PLANNING FOR SELF-RECONFIGURABLE MODULAR ROBOTS

Abstract— Motion planning for a self-reconfigurable robot involves coordinating the movement and connectivity of each of its homogeneous modules. Reconfiguration occurs when the shape of the robot changes from some initial configuration to a target configuration. Finding an optimal solution to reconfiguration problems involves searching the space of possible robot configurations.
As this space grows exponentially with the number of modules, optimal planning becomes intractable. We propose a hierarchical planning approach that computes heuristic global reconfiguration strategies efficiently. Our approach consists of a base planner that computes an optimal solution for a few modules and a hierarchical planner that calls this base planner or reuses pre-computed plans at each level of the hierarchy to ultimately compute a global suboptimal solution. We present results from a prototype implementation of the method that efficiently plans for self-reconfigurable robots with several thousand modules. We also discuss tradeoffs and performance issues including scalability, heuristics and plan optimality.

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Generic Decentralized Control for a Class of Self-Reconfigurable Robots

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GENERIC DECENTRALIZED CONTROL FOR A CLASS SELF-RECONFIGURABLE ROBOTS

Abstract: Previous work on self-reconfiguring modular robots has concentrated primarily on hardware and reconfiguration we introduce a new type of generic locomotion algorithmfor self-reconfigurable robots. The algorithms presented here are inspired by cellular automata, using geometric rules to control module actions. The actuation model used is a general one, presuming that modules can generally move over the surface of a group of modules. These algorithms can then be instantiated on to a variety of particular systems. Correctness proofs of the rule sets are also given for the generic geometry, with the intent that this analysis can carry over to the instantiated algorithms to provide different systems with correct locomotion algorithms.

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Experiment Design for Stochastic Three-Dimensional Reconfiguration of Modular Robots

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EXPERIMENT DESIGN FOR STOCHASTIC THREE-DIMENSIONAL RECONFIGURATION OF MODULAR ROBOTS

At the Creative Machines Lab we build robots that do what you’d least expect robots to do: Self replicate, self-reflect, ask questions, and even be creative. We develop machines that can design and make other machines – automatically. Our work is inspired from biology, as we seek new biological concepts for engineering and new engineering insights into biology…

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Distributed locomotion algorithms for self-reconfigurable robots operating on rough terrain

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DISTRIBUTED LOCOMOTION ALGORITHMS FOR SELF-RECONFIGURABLE ROBOTS OPERATING ON ROUGH TERRAIN

Abstract: In this paper, we describe a set of distributed algorithms for self-reconfiguring modular robots that allow them to explore an area in parallel. The algorithms are based on geometric rules that each module evaluates independently relative to its local neighborhood. This paper concentrates on developing algorithms within this framework to enable travel over the widest
variety of terrain. In particular, we show how to perform straight-line motion, turning while on obstacles, climbing over tall obstacles, and tunneling under overhangs, all of which work for groups of arbitrary size. This last feature is important, as it also allows a large system of self-reconfiguring modules to divide up into several groups of various sizes, each of which is equally capable of motion and participation in the overall group task. We also discuss implementations and ways to improve efficiency and switching between tasks.

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Design of a Modular Self-Reconfigurable Robot

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DESIGN OF A MODULAR SELF-RECONFIGURABLE ROBOT

Abstract: In this paper we examine the development of modular self-reconfigurable robots. A survey of existing modular robots is given. Some limitations of homogeneous design and connection mechanisms are discussed. Therefore, we propose a heterogeneous self-reconfigurable robot with genderless, fail-safe connecting mechanisms. We initially design three basic types (joint, power and special units) of module.

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Concurrent metamorphosis of hexagonal robot chains into simple connected configurations

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CONCURRENT METAMORPHOSIS OF HEXAGONAL ROBOT CHAINS INTO SIMPLE CONNECTED CONFIGURATIONS 

Abstract: The problem addressed is the distributed reconfiguration of a metamorphic robotic system composed of an arbitrary number of two dimensional hexagonal robots (modules) from specific initial to specific goal configurations. The initial configuration considered is a straight chain of robotic modules, while the goal configurations considered satisfy a more general “admissibility” condition. A centralized algorithm is described for determining whether an arbitrary goal configuration is admissible. We prove this algorithm correctly identifies admissible goal configurations and finds a “substrate path” within the goal configuration along which the modules can move to reach their positions in the goal. A second result of the paper is a distributed algorithm for reconfiguring a straight chain into an admissible goal configuration. Different heuristics are proposed to improve the performance of the reconfiguration algorithm and simulation results demonstrate the use of these heuristics.

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