Motion Planning for a Modular Self-Reconfiguring Robotic System [chapter]

Cem Ünsal, Han kilivççöte, Mark E. Patton, Pradeep K. Khosla
2000 Distributed Autonomous Robotic Systems 4  
In this paper, we address the issue of motion planning for a bipartite class of modular self-reconfiguring robotic system (I-Cubes) that is a collection of active elements providing reconfiguration (3-DOF manipulators called links) and passive elements acting as connectors (cubes). The links, capable of attaching/detaching themselves from/to cubes, can position and orient the cubes. Current solutions for motion planning and reconfiguration of I-Cubes include multilayered planners that divide a
more » ... iven problem into tractable sub-problems to be evaluated using heuristic methods. The system implementation, its representation in simulation, search algorithms resulting from this representation, and simulation examples are presented.
doi:10.1007/978-4-431-67919-6_16 fatcat:gqnrem3p35fb3mhmw7iwn7b3wy