Algorithms for fast concurrent reconfiguration of hexagonal metamorphic robots

IEEE Transactions on Robotics

Volumn 21, Issue 4, 2005, Pages 621-631

  Walter, Jennifer E ^a   Tsai, Elizabeth M ^b   Amato, Nancy M ^c  

^a VASSAR COLLEGE   (United States)

^b SWARTHMORE COLLEGE   (United States)

^c Texas AandM University   (United States)

Author keywords

Distributed reconfiguration; Metamorphic robots

Indexed keywords

ALGORITHMS; COMPUTER SIMULATION; HEURISTIC METHODS; MOTION PLANNING; ROBOTICS;

DISTRIBUTED RECONFIGURATION; METAMORPHIC ROBOTS;

MOBILE ROBOTS;

EID: 24144457008     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2004.842325     Document Type: Article

References (23)

1. T. Fukuda and Y. Kawauchi, "Cellular robotic system (CEBOT) as one of the realization of self-organizing intelligent universal manipulator," in Proc. IEEE Int. Conf. Robotics and Automation, Cincinatti, OH, May 1990, pp. 662-667.
2. G. Chirikjian, "Kinematics of a metamorphic robot system," in Proc. IEEE Int. Conf. Robotics and Automation, San Diego, CA, May 1994, pp. 449-455.
3. A. Pamecha, I. Ebert-Uphoff, and G. Chirikjian, "Useful metrics for modular robot planning," IEEE J. Robot. Automat., vol. 13, no. 4, pp. 531-545, Aug. 1997.
4. S. Murata, H. Kurokawa, and S. Kokaji, "Self-assembling machine," in Proc. IEEE Int. Conf. Robotics and Automation, San Diego, CA, May 1994, pp. 441-448.
5. G. Chirikjian, A. Pamecha, and I. Ebert-Uphoff, "Evaluating efficiency of self-reconfiguration in a class of modular robots," J. Robot. Syst., vol. 13, no. 5, pp, 317-338, 1996.
6. J. Walter, J. Welch, and N. Amato, "Distributed reconfiguration of metamorphic robot chains," in Proc. ACM Symp. Principles of Distributed Computing, Portland, OR, Jul. 2000, pp. 171-180.
7. J. Walter, J. Welch, and N. Amato, "Concurrent metamorphisis of hexagonal robot chains into simple connected configurations," IEEE J. Robot. Automat., vol. 18, no. 6, pp. 945-956, Dec. 2002.
8. S. Murata, E. Yoshida, A. Kamimura, H. Kurokawa, K. Tomita, and S. Kokaji, "M-tran: Self-reconfigurable modular robotic system," IEEE/ASME Trans. Mechatron., vol. 7, no. 4, pp. 431-441, Dec. 2002.
9. A. Casal and M. Yim, "Self-reconfiguration planning for a class of modular robots," in Proc. SPIE Symp. Intelligent Systems and Advanced Manufacturing, Boston, MA, Sep. 1999, pp. 246-256.
10. A. Dumitrescu, I. Suzuki, and M. Yamashita, "High speed formations of reconfigurable modular robotic systems," in Proc. IEEE Int. Conf. Robotics and Automation, Washington, DC, May 2002, pp. 123-128.
11. A. Nguyen, L. Guibas, and M. Yim, "Controlled module density helps reconfiguration planning," in Proc. New Directions in Algorithmic and Computational Robotics, Hanover, NH, Mar. 2001, pp. 23-26.
12. C. J. Chiang and G. Chirikjian, "Similarity metrics with applications to modular robot motion planning," Auton. Robot. J., vol. 10, no. 1, pp. 91-106, 2001.
13. K. Hosokawa, T. Tsjumori, T. Fujii, H. Kaetsu, H. Asama, Y. Kuroda, and I. Endo, "Self-organizing collective robots with morphogenesis in a vertical plane," in Proc. IEEE Int. Conf. Robotics and Automation, Leuven, Belgium, May 1998, pp. 2858-2863.
14. Z. Butler, S. Byrnes, and D. Rus, "Distributed motion planning for modular robots with unit-compressible modules," in Proc. IEEE Int. Conf. Intelligent Robots and Systems, Wailea, HI, Oct./Nov. 2001, pp. 790-796.
15. D. Rus and M. Vona, "Crystalline robots: Self-configuration with compressible unit modules," Auton. Robot. J., vol. 10, no. 1, pp. 107-124, 2001.
16. E. Yoshida, S. Murata, H. Kurokawa, K. Tomita, and S. Kokaji, "A distributed reconfiguration method for 3D homogeneous structure," in Proc. IEEE Int. Conf. Intelligent Robots and Systems, Victoria, BC, Canada, Oct. 1998, pp. 852-859.
17. H. Bojinov, A. Casal, and T. Hoag, "Emergernt structures in modular self-reconfigurable robots," in Proc. IEEE Int. Conf. Robotics and Automation, San Francisco, CA, Apr. 2000, pp. 1734-1741.
18. M. Yim, J. Lamping, E. Mao, and J. G. Chase, "Rhombic dodecahedron shape for self-assembling robots," Xerox PARC SPL, Tech. Rep. P9710777, 1997.
19. M. Yim, Y. Zhang, J. Lamping, and E. Mao, "Distributed control for 3D metamorphisis," Auton. Robot. J., vol. 10, no. 1, pp. 41-56, 01.
20. G. Chirikjian and A. Pamecha, "Bounds for self-reconfiguration of metamorphic robots," in Proc. IEEE Int. Conf. Robotics and Automation, Mineapolis, MN, Apr., 1996, pp. 1452-1457.
21. K. Prevas, C. Unsal, M. Efe, and P. Khosal, "A hierachial motion planning strategy for a uniform self-reconfigurable module robotic system," in Proc. IEEE Int. Conf. Robotics and Automation, Washington, DC, May 2002, pp. 787-792.
22. S. Vassilvitski, M. Yim, and J. Suh, "A complete, local and parallel reconfiguration algorithm for cube style modular robots," in Proc. IEEE Int. Conf. Robotics and Automation, Washington, DC, May 2002, pp. 117-122.
23. E. Yoshida, S. Murata, K. Tomita, H. Kurokawa, and S. Kokaji, "Distributed formation control of a modular mechanical system," in Proc. IEEE Int. Conf. Intelligent Robots and Systems, Grenoble, France, Sep. 1997, pp. 1090-1097.