DocumentCode
2911875
Title
Self-reconfiguration planning with compressible unit modules
Author
Rus, Daniela ; Vona, Marsette
Author_Institution
Dept. of Comput. Sci., Dartmouth Coll., Hanover, NH, USA
Volume
4
fYear
1999
fDate
1999
Firstpage
2513
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location
Detroit, MI
ISSN
1050-4729
Print_ISBN
0-7803-5180-0
Type
conf
DOI
10.1109/ROBOT.1999.773975
Filename
773975
Link To Document