Graph isomorphism testing method in a self-recognition Velcro strap modular robot

In this paper, we use a recognition method for a self-recognition robot aiming to recognize potential isomorphism between two configuration graphs of the robot. A self-recognition modular robot is formed by a set of robotic modules. This self-recognition modular robot is able to change its shape by changing the way in which these multiple modules cooperate so as to conform to different working environments. In general, recognizing configuration isomorphism during the reconfiguration process is a significant challenge. This paper presents an isomorphism testing algorithm to be applied to configuration graphs to deal with the recognition problem. A byproduct of the algorithm is to allow the robot to identify configurations other than the present one sharing the same underlying graph structure. Such solutions may lead to useful results for devising feasible control in subsequent reconfiguration process. Simulation results are provided to validate the method application, and its advantages are also discussed. Furthermore, some experimental results are demonstrated to show the effectiveness of the Velcro strap modular robot with satisfactory performances.