Reconfiguration for modular robots using kinodynamic motion planning

2008 Proceedings of the ASME Dynamic Systems and Control Conference, DSCC 2008

Volumn , Issue PART A, 2009, Pages 237-239

  Şucan, Ioan A ^a   Kruse, Jonathan F ^b   Yim, Mark ^b   Kavraki, Lydia E ^a  

^a Rice University   (United States)

^b UNIVERSITY OF PENNSYLVANIA   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

AVOIDING OBSTACLE; DYNAMIC MOTIONS; DYNAMIC SIMULATORS; EXPERIMENTAL EVIDENCE; MOTION PLANNERS; PHYSICS-BASED; RECONFIGURABLE ROBOT; SAMPLING-BASED;

DYNAMIC PROGRAMMING; DYNAMICAL SYSTEMS; MODULAR ROBOTS; MOTION PLANNING; PLANNING;

ROBOT PROGRAMMING;

EID: 70349895747     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (10)

1. Yim, M., Shen, W.-M., Salemi, B., Rus, D., Moll, M., Lipson, H., and Klavins, E., 2007. "Modular self-reconfigurable robot systems: Challenges and opportunities for the future". IEEE Robotics & Automation Magazine, 14(1), Mar., pp. 43-52.
2. Yim, M., Goldberg, D., and Casal, A., 2000. "Connectivity Planning for Closed-Chain Reconfiguration". Proc. SPIE, Sensor Fusion and Decentralized Control in Robotic Systems III, 4196, pp. 402-412.
3. Mayne, D., Rawlings, J., Rao, C., and Scokaert, P., 2000. "Constrained model predictive control: Stability and optimality". Automatica, 36(6), June, pp. 789-814.
4. Reif, J., and Slee, S., 2007. "Optimal kinodynamic motion planning for self-recongurable robots between arbitrary 2d configurations". In Robotics: Science and Systems.
5. Smith, R., 2008. Open dynamics engine. http://www.ode.org. seen March 12, 2008.
6. Ladd, A. M., 2006. "Direct motion planning over simulation of rigid body dynamics with contact". PhD thesis, Rice University, Houston, Texas, December.
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8. Choset, H., Lynch, K. M., Hutchinson, S., Kantor, G. A., Burgard, W., Kavraki, L. E., and Thrun, S., 2005. Principles of Robot Motion: Theory, Algorithms, and Implementations. MIT Press, June. ISBN 0-262-03327-5.
9. Şucan, I. A., Kruse, J. F., Yim, M., and Kavraki, L. E., 2008. "Kinodynamic motion planning with hardware demonstrations". In International Conference on Intelligent Robots and Systems.
10. Chutinan, A., and Krogh, B., 2003. "Computational techniques for hybrid system verification". IEEE Transactions on Automatic Control, 48(1), January, pp. 64-75.