{"id":277,"date":"2017-12-28T16:14:53","date_gmt":"2017-12-28T16:14:53","guid":{"rendered":"https:\/\/selfreconfigurable.com\/N3W\/?p=277"},"modified":"2018-01-02T22:50:15","modified_gmt":"2018-01-02T22:50:15","slug":"hierarchical-motion-planning-for-self-reconfigurable-modular-robots","status":"publish","type":"post","link":"https:\/\/selfreconfigurable.com\/?p=277","title":{"rendered":"Hierarchical Motion Planning for Self-reconfigurable Modular Robots"},"content":{"rendered":"<h1><span style=\"color: #b4b89e;\"><strong>HIERARCHICAL MOTION PLANNING FOR SELF-RECONFIGURABLE MODULAR ROBOTS<\/strong><\/span><\/h1>\n<div style=\"float: right; margin-right: 22px;\">\n<\/div>\n<p><strong>Abstract<\/strong>\u2014 Motion planning for a self-reconfigurable robot\u00a0involves coordinating the movement and connectivity of each of\u00a0its homogeneous modules. Reconfiguration occurs when the shape of the robot changes from some initial configuration to a target\u00a0configuration. Finding an optimal solution to reconfiguration problems involves searching the space of possible robot configurations.<br \/>\nAs this space grows exponentially with the number of\u00a0modules, optimal planning becomes intractable. We propose a\u00a0hierarchical planning approach that computes heuristic global\u00a0reconfiguration strategies efficiently. Our approach consists of a\u00a0base planner that computes an optimal solution for a few modules\u00a0and a hierarchical planner that calls this base planner or reuses\u00a0pre-computed plans at each level of the hierarchy to ultimately\u00a0compute a global suboptimal solution. We present results from a\u00a0prototype implementation of the method that efficiently plans for\u00a0self-reconfigurable robots with several thousand modules. We also\u00a0discuss tradeoffs and performance issues including scalability,\u00a0heuristics and plan optimality.<\/p>\n<p style=\"text-align: center;\"><a href=\"http:\/\/www.kuffner.org\/james\/papers\/hierarchical_planning_modular_iros2006.pdf\" target=\"_blank\" rel=\"noopener\"><strong>Read More<\/strong><\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>HIERARCHICAL MOTION PLANNING FOR SELF-RECONFIGURABLE MODULAR ROBOTS Abstract\u2014 Motion planning for a self-reconfigurable robot\u00a0involves coordinating the movement and connectivity of each of\u00a0its homogeneous modules. Reconfiguration occurs when the shape of the robot changes from some initial configuration to a target\u00a0configuration. Finding an optimal solution to reconfiguration problems involves searching the space of possible robot configurations. [&hellip;]<\/p>\n","protected":false},"author":2,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[11],"tags":[],"class_list":["post-277","post","type-post","status-publish","format-standard","hentry","category-pdf-ppt-files"],"_links":{"self":[{"href":"https:\/\/selfreconfigurable.com\/index.php?rest_route=\/wp\/v2\/posts\/277","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/selfreconfigurable.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/selfreconfigurable.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/selfreconfigurable.com\/index.php?rest_route=\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"https:\/\/selfreconfigurable.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=277"}],"version-history":[{"count":2,"href":"https:\/\/selfreconfigurable.com\/index.php?rest_route=\/wp\/v2\/posts\/277\/revisions"}],"predecessor-version":[{"id":1104,"href":"https:\/\/selfreconfigurable.com\/index.php?rest_route=\/wp\/v2\/posts\/277\/revisions\/1104"}],"wp:attachment":[{"href":"https:\/\/selfreconfigurable.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=277"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/selfreconfigurable.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=277"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/selfreconfigurable.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=277"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}