Fast on-board motion planning for modular robots

Modular robots, which are systems made of many robotic modules, can utilize various types of locomotion. Different approaches can be used to generate these basic motion skills - motion primitives. To move in a complex environment, several motion primitives are needed and a mechanism to switch them is required. This can be realized using a high-level motion planning. To enable autonomous operation of modular robots equipped with limited computational resources, it is necessary to generate the motion plans on-board, i.e., without external computers. In this paper, we propose a novel simplified motion model of a modular robot, which allows the robot to employ the motion planner as a fast on-board replanner. The proposed approach has been verified both in simulations as well as with real robots.