Distributed motion planning for modular robots with unit-compressible modules

Author

Butler, Zack ; Byrnes, Sean ; Rus, Daniela

Author_Institution

Dept. of Comput. Sci., Dartmouth Coll., Hanover, NH, USA

Volume

2

fYear

2001

fDate

2001

Firstpage

790

Abstract

The ability of self-reconfigurable robots to solve a variety of robot tasks comes in part from their use of a large number of modules. Effective use of these systems requires parallel actuation and planning, both for efficiency and independence from a central controller. This paper presents the PacMan algorithm, a technique for distributed actuation and planning. This algorithm was developed for systems with unit-compressible modules, such as the crystalline robot. We also describe some analytical properties of the PacMan planning and actuation, and discuss simulation and hardware experiments

Keywords

parallel algorithms; path planning; robots; self-adjusting systems; PacMan algorithm; crystalline robot; distributed actuation; distributed motion planning; distributed planning; modular robots; parallel actuation; parallel planning; self-reconfigurable robots; unit-compressible modules; Centralized control; Computer science; Control systems; Crystallization; Educational institutions; Legged locomotion; Motion planning; Parallel robots; Robotics and automation; Shape control;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on

Conference_Location

Maui, HI

Print_ISBN

0-7803-6612-3

Type

conf

DOI

10.1109/IROS.2001.976265

Filename

976265