Graph signature for self-reconfiguration planning

This project incorporates modular robots as building blocks for furniture that moves and self-reconfigures. The reconfiguration is done using dynamic connection / disconnection of modules and rotations of the degrees of freedom. This paper introduces a new approach to self-reconfiguration planning for modular robots based on the graph signature and the graph edit-distance. The method has been tested in simulation on two type of modules: YaMoR and M-TRAN. The simulation results shows interesting features of the approach, namely rapidly finding a near-optimal solution


Published in:
2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 863-869
Presented at:
International Conference on Intelligent Robots and Systems, Nice, September 22-26, 2008
Year:
2008
Keywords:
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 Record created 2009-01-07, last modified 2018-09-13

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