Reconfiguration planning among obstacles for heterogeneous self-reconfiguring robots

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2005, Issue , 2005, Pages 117-124

  Fitch, Robert ^a,d   Butler, Zack ^b   Rus, Daniela ^c  

^a Dartmouth College   (United States)

^b Rochester Institute of Technology   (United States)

^c MASSACHUSETTS INSTITUTE OF TECHNOLOGY   (United States)

^d CSIRO   (Australia)

Author keywords

[No Author keywords available]

Indexed keywords

LATTICE-BASED SYSTEMS; SELFRECONFIGURING ROBOTS;

ALGORITHMS; COLLISION AVOIDANCE; MOTION PLANNING; ROBOTICS; SYSTEMS ANALYSIS;

PROGRAMMABLE ROBOTS;

EID: 33846127168     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2005.1570106     Document Type: Conference Paper

References (21)

1. Z. Butler, K. Kotay, D. Rus, and K. Tomita. Generic decentralized locomotion control for lattice-based self-reconfigurable robots. International Journal of Robotics Research, 23(9), Sept. 2004.
2. Z. Butler and D. Rus. Distributed motion planning for modular robots with unit-compressible modules. International Journal of Robotics Research, 22(9):699-716, Sept. 2003.
3. D. Christensen, E. Østergaard, and H. Lund. Meta-module control for the atron self-reconfigurable robotic system. In Proceedings of the The 8th Conference on Intelligent Autonomous Systems (IAS-8), pages 685-692, 2004.
4. R. Fitch. Heterogeneous Self-Reconfiguring Robotics. PhD thesis, Dartmouth College, 2004.
5. R. Fitch, Z. Butler, and D. Rus. 3D rectilinear motion planning with minimum bend paths. In Proc. of the Int'l Conf. on Intelligent Robots and Systems, 2001.
6. R. Fitch, Z. Butler, and D. Rus. Reconfiguration planning for heterogeneous self-reconfiguring robots. In Proc. of IROS, 2003.
7. R. Fitch, Z. Butler, and D. Rus. In-place distributed heterogeneous reconfiguration planning. In 7th International Symposium on Distributed Autonomous Robotic Systems (DARS'04), 2004.
8. Robert A. Hearn and Erik D. Demaine. PSPACE-completeness of sliding-block puzzles and other problems through the nondeterministic constraint logic model of computation. Theoretical Computer Science, to appear. Special issue "Game Theory Meets Theoretical Computer Science".
9. K. Hosokawa, T. Tsujimori, T. Fujii, H. Kaetsu, H. Asama, Y. Koruda, and I. Endo. Self-organizing collective robots with morphogenesis in a vertical plane. In Proc. of IEEE ICRA, pages 2858-63, 1998.
10. K. Kotay. Self-Reconfiguring Robots: Designs, Algorithms, and Applications. PhD thesis, Dartmouth College, Computer Science Department, 2003.
11. K. Kotay and D. Rus. Locomotion versatility through self-reconfiguration. Robotics and Autonomous Systems, 26:217-32, 1999.
12. N. Lynch. Distributed Algorithms. Morgan Kaufmann Publishers, San Francisco, 1996.
13. S. Murata, E. Yoshida, K. Tomita, H. Kurokawa, A. Kamimura, and S. Kokaji. Hardware design of modular robotic system. In Proc. of the Int'l Conf. on Intelligent Robots and Systems, pages 2210-7, 2000.
14. A. Pamecha, C-J. Chiang, D. Stein, and G. Chirikjian. Design and implementation of metamorphic robots. In Proc. of the 1996 ASME Design Engineering Technical Conf. and Computers in Engineering Conf., 1996.
15. A. Pamecha, I. Ebert-Uphoff, and G. Chirikjian. Useful metrics for modular robot motion planning. IEEE Trans. on Robotics and Automation, 13(4):531-45, 1997.
16. D. Rus and M. Vona. Crystalline robots: Self-reconfiguration with unit-compressible modules. Autonomous Robots, 10(1):107-24, 2001.
17. K. Stoy and R. Nagpal. Self-reconfiguration using directed growth. In 7th International Symposium on Distributed Autonomous Robotic Systems (DARS'04), 2004.
18. Cem Ünsal and Pradeep Khosla. Mechatronic design of a modular self-reconfiguring robotic system. In Proc. of IEEE ICRA, pages 1742-7, 2000.
19. S. Vassilvitskii, M. Yim, and J. Suh. A complete, local and parallel reconfiguration algorithm for cube style modular robots. In Proc. of IEEE ICRA, 2002.
20. J. Walter, J. Welch, and N. Amato. Concurrent metamorphosis of hexagonal robot chains into simple connected configurations. IEEE Transactions on Robotics and Automation, 18(6):945-956, 2002.
21. M. Yim, Y. Zhang, J. Lamping, and E. Mao. Distributed control for 3D shape metamorphosis. Autonomous Robots, 10(1):41-56, 2001.