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Motion Planning for a Modular Self-Reconfiguring Robotic System

10 years 1 months ago
Motion Planning for a Modular Self-Reconfiguring Robotic System
In this paper, we address the issue of motion planning for a bipartite class of modular self-reconfiguring robotic system (I-Cubes) that is a collection of active elements providing reconfiguration (3-DOF manipulators called links) and passive elements acting as connectors (cubes). The links, capable of attaching/detaching themselves from/to cubes, can position and orient the cubes. Current solutions for motion planning and reconfiguration of I-Cubes include multilayered planners that divide a given problem into tractable sub-problems to be evaluated using heuristic methods. The system implementation, its representation in simulation, search algorithms resulting from this representation, and simulation examples are presented.
Cem Ünsal, Han Kiliççöte,
Added 02 Aug 2010
Updated 02 Aug 2010
Type Conference
Year 2000
Where DARS
Authors Cem Ünsal, Han Kiliççöte, Mark Patton, Pradeep K. Khosla
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