We present a robust and compact meta-module for edge-hinged modular robot units such as M-TRAN, SuperBot, SMORES, UBot, PolyBot and CKBot, as well as for central-point-hinged ones such as Molecubes and Roombots. Thanks to the rotational degrees of freedom of these units, the novel meta-module is able to expand and contract, as to double/halve its length in each dimension. Moreover, for a large class of edge-hinged robots the proposed meta-module also performs the scrunch/relax and transfer operations required by any tunneling-based reconfiguration strategy, such as those designed for Crystalline and Telecube robots. These results make it possible to apply efficient geometric reconfiguration algorithms to this type of robots. We prove the size of this new meta-module to be optimal. Its robustness and performance substantially improve over previous results. ; Peer Reviewed ; Postprint (author's final draft)
A new meta-module for efficient reconfiguration of hinged-units modular robots
2016-01-01
Sonstige
Elektronische Ressource
Englisch
Àrees temàtiques de la UPC::Matemàtiques i estadística::Matemàtica discreta , Algorithms , mobile robots , robust control , robust meta-module , compact meta-module , edge-hinged modular robot units , M-TRAN , SuperBot , SMORES , UBot , PolyBot , CKBot , Molecubes , Roombots , rotational degrees of freedom , scrunch/ relax operations , transfer operations , tunneling-based reconfiguration strategy , Crystalline robots , Telecube robots , geometric reconfiguration algorithms , Algorismes , Classificació AMS::68 Computer science::68W Algorithms
DDC: | 629 |
Self-reconfiguration of Modular Underwater Robots using an Energy Heuristic
BASE | 2017
|BASE | 2019
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