Abstract
This paper describes a distributed planner that allows a self-reconfiguring robot consisting of heterogeneous modules to change configuration without using extra space. This work builds on previous work on reconfiguration planning for homogeneous robots and our recent work on heterogeneous reconfiguration planning that requires temporary working space to execute. Motivated by a specific algorithm for the distributed Crystal robot, we describe and analyze an O(n 2)-time reconfiguration algorithm for systems of modules with assigned types that uses a constrained amount of free space.
Support for this work was provided by NSF awards EIA-9901589, IIS-9818299, IIS-9912193, EIA-0202789 and 0225446, and ONR award N00014-01-1-0675.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Z. Butler, R. Fitch, and D. Rus. Distributed control for unit-compressible robots: Goal-recognition, locomotion and splitting. IEEE/ASME Trans. on Mechatronics, 7(4):418–430, Dec. 2002.
R. Fitch. Heterogeneous Self-Reconfiguring Robotics. PhD thesis, Dartmouth College, Expected August, 2004.
R. Fitch, Z. Butler, and D. Rus. Reconfiguration planning for heterogeneous self-reconfiguring robots. In Proc. of IROS, 2003.
K. Kotay. Self-Reconfiguring Robots: Designs, Algorithms, and Applications. PhD thesis, Dartmouth College, Computer Science Department, 2003.
S. Murata, E. Yoshida, A. Kamimura, H. Kurokawa, K. Tomita, and S. Kokaji. M-TRAN: Self-reconfigurable modular robotic system. IEEE/ASME Trans, on Mechatronics, 7(4):431–441, 2002.
A. Pamecha, I. Ebert-Uphoff, and G. Chirikjian. Useful metrics for modular robot motion planning. IEEE Trans. on Robotics and Automation, 13(4):531–545, 1997.
D. Rus and M. Vona. Crystalline robots: Self-reconfiguration with unitcompressible modules. Autonomous Robots, 10(1): 107–124, 2001.
W.-M. Shen, B. Salemi, and P. Will. Hormone-inspired adaptive communication and distributed control for conro self-reconfigurable robots. IEEE Transactions on Robotics and Automation, October 2002.
J. Suh, S. Homans, and M. Yim. Telecubes: Mechanical design of a module for self-reconfiguring robotics. In Proc of IEEE ICRA, 2002.
S. Vassilvitskii, M. Yim, and J. Suh. A complete, local and parallel reconfiguration algorithm for cube style modular robots. In Proc. of IEEE ICRA, 2002.
J. Walter, J. Welch, and N. Amato. Concurrent metamorphosis of hexagonal robot chains into simple connected configurations. IEEE Transactions on Robotics and Automation, 18(6):945–956, 2002.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2007 Springer
About this paper
Cite this paper
Fitch, R., Butler, Z., Rus, D. (2007). In-Place Distributed Heterogeneous Reconfiguration Planning. In: Alami, R., Chatila, R., Asama, H. (eds) Distributed Autonomous Robotic Systems 6. Springer, Tokyo. https://doi.org/10.1007/978-4-431-35873-2_16
Download citation
DOI: https://doi.org/10.1007/978-4-431-35873-2_16
Publisher Name: Springer, Tokyo
Print ISBN: 978-4-431-35869-5
Online ISBN: 978-4-431-35873-2
eBook Packages: EngineeringEngineering (R0)