Programming for modular reconfigurable robots |
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Authors: | A A Gorbenko V Yu Popov |
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Affiliation: | 1.Department of Mathematics and Mechanics,Ural State University,Yekaterinburg,Russia |
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Abstract: | Composed of multiple modular robotic units, self-reconfigurable modular robots are metamorphic systems that can autonomously
rearrange the modules and form different configurations depending on dynamic environments and tasks. The goal of self-reconfiguration
is to determine how to change connectivity of modules to transform the robot from the current configuration to the goal configuration
subject to restrictions of physical implementation. The existing reconfiguration algorithms use different methods, such as
divide-and-conquer, graph matching, and the like, to reduce the reconfiguration cost. However, an optimal solution with a
minimal number of reconfiguration steps has not been found yet. The optimal reconfiguration planning problem consists in finding
the least number of reconfiguration steps transforming the robot from one configuration to another. This is an NP-complete
problem. In this paper, we describe an approach to solve this problem. The approach is based on constructing logical models
of the problem under study. |
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