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IROS
2009
IEEE

Graph signature for self-reconfiguration planning of modules with symmetry

9 years 2 days ago
Graph signature for self-reconfiguration planning of modules with symmetry
— In our previous works we had developed a framework for self-reconfiguration planning based on graph signature and graph edit-distance. The graph signature is a fast isomorphism test between different configurations and the graph edit-distance is a similarity metric. But the algorithm is not suitable for modules with symmetry. In this paper we improve the algorithm in order to deal with symmetric modules. Also, we present a new heuristic function to guide the search strategy by penalizing the solutions with more number of actions. The simulation results show the new algorithm not only deals with symmetric modules successfully but also finds better solutions in a shorter time.
Masoud Asadpour, Mohammad Hassan Zokaei Ashtiani,
Added 24 May 2010
Updated 24 May 2010
Type Conference
Year 2009
Where IROS
Authors Masoud Asadpour, Mohammad Hassan Zokaei Ashtiani, Alexander Spröwitz, Auke Jan Ijspeert
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