Scalable parallel algorithm for configuration planning for self-reconfiguring robots

Keith D. Kotay; Daniela L. Rus

doi:10.1117/12.403736

16 October 2000 Scalable parallel algorithm for configuration planning for self-reconfiguring robots

Keith D. Kotay, Daniela L. Rus

Proceedings Volume 4196, Sensor Fusion and Decentralized Control in Robotic Systems III; (2000) https://doi.org/10.1117/12.403736
Event: Intelligent Systems and Smart Manufacturing, 2000, Boston, MA, United States

Abstract

In this paper we present algorithms for planning the motion of robotic Molecules on a substrate of other Molecules. Our approach is to divide self-reconfiguration planning into three levels: trajectory planning, configuration planning, and task-level planning. This paper focuses on algorithms for configuration planning, moving a set of Molecules from a starting configuration to a goal configuration. We describe our scaffold planning approach in which the interior of a structure contains 3D tunnels. This allows Molecules to move within a structure as well as on the surface, simplifying Molecule motion planning as well as increasing parallelism. In addition, we present a new gripper-type connection mechanism for the Molecule which does not require power to maintain connections.

Citation Download Citation

Keith D. Kotay and Daniela L. Rus "Scalable parallel algorithm for configuration planning for self-reconfiguring robots", Proc. SPIE 4196, Sensor Fusion and Decentralized Control in Robotic Systems III, (16 October 2000); https://doi.org/10.1117/12.403736

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available