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ICRA
2002
IEEE

Motion Planning for Heterogeneous Modular Mobile Systems

9 years 4 months ago
Motion Planning for Heterogeneous Modular Mobile Systems
This paper addresses the issue of developing a motion planning algorithm for a general class of modular mobile robots. A modular mobile robot is essentially a reconfigurable robot system in which locomotive modules such as legs, wheels, propellers, etc. can be attached at various locations on the body. The equations of motion for the robot are developed in terms of a set of generalized inputs related to the constraints and configurations of each individual module. The motion planning method developed in [8] and extended in [6] can then be modified to generate required trajectories for the modular robot. These methods generally lead to sequential motion plans - we also develop conditions under which two consecutive plans can be executed simultaneously.
Sachin Chitta, James P. Ostrowski
Added 15 Jul 2010
Updated 15 Jul 2010
Type Conference
Year 2002
Where ICRA
Authors Sachin Chitta, James P. Ostrowski
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