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

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 […]

## Design of a Modular Self-Reconfigurable Robot

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 […]

## Concurrent metamorphosis of hexagonal robot chains into simple connected configurations

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 […]

## Reconfiguration Planning for Heterogeneous Self-Reconfiguring Robots

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 […]

## Modeling Lattice Modular Reconfigurable Systems with Space Groups

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 […]

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

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 […]

## Hierarchical Motion Planning for Self-reconfigurable Modular Robots

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. […]

## Generic Decentralized Control for a Class of Self-Reconfigurable Robots

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 […]

## Fluidic Stochastic Modular Robotics: Revisiting the System Design

FLUIDIC STOCHASTIC MODULAR ROBOTICS: REVISTING THE SYSTEM DESIGN Grand Challenges in the Area of Self-Reconfigurable Modular Robots Read More

## Experiment Design for Stochastic Three-Dimensional Reconfiguration of Modular Robots

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 […]

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

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 […]

## Design of a Modular Self-Reconfigurable Robot

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 […]

## Concurrent metamorphosis of hexagonal robot chains into simple connected configurations

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 […]