Title :
Self-reconfiguration planning with compressible unit modules
Author :
Rus, Daniela ; Vona, Marsette
Author_Institution :
Dept. of Comput. Sci., Dartmouth Coll., Hanover, NH, USA
Abstract :
We discuss a robotic system composed of crystalline modules. Crystalline modules can aggregate together to form distributed robot systems. Crystalline modules can move relative to each other by expanding and contracting. This actuation mechanism permits automated shape metamorphosis. We describe the crystalline module concept and show the basic motions that enable a crystalline robot system to self-reconfigure. We present an algorithm for general self-reconfiguration and describe simulation experiments
Keywords :
multi-robot systems; planning; self-adjusting systems; automated shape metamorphosis; compressible unit modules; crystalline modules; distributed robot systems; self-reconfiguration planning; Aggregates; Communication system control; Computer science; Crystallization; Distributed computing; Educational institutions; Mobile computing; Robot sensing systems; Robotics and automation; Shape;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.773975
