Roombots-Towards Decentralized Reconfiguration with Self-Reconfiguring Modular Robotic Metamodules

This paper presents our work towards a decentralized reconfiguration strategy for self-reconfiguring modular robots, assembling furniture-like structures from Roombots metamodules. We explore how reconfiguration by locomotion from a configuration A to a configuration B can be controlled in a distributed fashion. This is done using Roombots metamodules—two Roombots modules connected serially—that use broadcast signals, lookup tables of their movement space, assumptions about their neighborhood, and connections to a structured surface to collectively build desired structures without the need of a centralized planner


Published in:
Proceedings of IEEE IROS2010, 1126-1132
Presented at:
The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, October 18-22, 2010
Year:
2010
Publisher:
Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa
ISBN:
978-1-4244-6675-7
Keywords:
Laboratories:




 Record created 2010-06-16, last modified 2018-03-17

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