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Motion Planning for a Modular Self-Reconfiguring Robotic System
[chapter]
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
doi:10.1007/978-4-431-67919-6_16
fatcat:gqnrem3p35fb3mhmw7iwn7b3wy