Self-reconfiguration of PARTS: A parallel reconfiguration algorithm based on surface flow

卷:164

Article

关键词: ROBOTS;    SYSTEMS;   

DOI  :  10.1016/j.robot.2023.104417

来源: SCIE

【 摘 要 】

In this paper, we present a parallel reconfiguration algorithm for shape-shifting modular robots with a triangular structure. The reconfiguration planning is based on partitioning the robot's surface into source and sink sections for modules, using the largest common topology as a reference. Reconfiguration is realized by a synchronous surface flow of modules guided by the prior determination of module sources and sinks. Individual reconfiguration steps are carried out by a multi-step optimization framework, ensuring that intermediate configurations required for topology changes are valid and collision-free. With a configuration containing n modules, the algorithm completes the reconfiguration in O(n) reconfiguration steps and allows for a distributed and asynchronous hardware implementation. We demonstrate the performance of the proposed algorithm on multiple example configurations and compare the results to other reconfiguration approaches. (c) 2023 The Author(s). Published by Elsevier B.V. This is an open access article under the CC BY license (http://creativecommons.org/licenses/by/4.0/).

【 授权许可】

Free