Self-adapting modular robotics: A generalized distributed consensus framework

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2009, Pages 1881-1888

  Yu, Chih Han ^a   Nagpal, Radhika ^b  

^a HARVARD UNIVERSITY   (United States)

^b HARVARD UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

AGRICULTURAL ROBOTS; LIGHT SOURCES; MODULAR ROBOTS;

ADAPTIVE BEHAVIOR; CONTROL SCHEMES; DISTRIBUTED CONSENSUS; DISTRIBUTED ROBOTICS; FRAGILE OBJECTS; MODULAR ROBOTICS; SELF ADAPTATION; TETRAHEDRAL ROBOTS;

ROBOTICS;

EID: 79960055775     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2009.5152663     Document Type: Conference Paper

References (17)

1. D. Rus, Z. Butler, K. Kotay, and M. Vona, “Self-reconfiguring robots,” Communications of the ACM, vol. 45, no. 3, pp. 39–45, 2002.
2. W.-M. Shen, M. Krivokon, H. Chiu, J. Everist, M. Rubenstein, and J. Venkatesh, “Multimode locomotion for reconfigurable robots,” Autonomous Robots, vol. 20, no. 2, pp. 165–177, 2006.
3. C.-H. Yu, F.-X. Willems, D. Ingber, and R. Nagpal, “Self-organization of environmentally-adaptive shapes on a modular robot,” in Proc. IROS, 2007.
4. R. Olfati-Saber, J. Fax, and R. Murray, “Consensus and cooperation in networked multi-agent systems,” in Proc. of IEEE, 2007.
5. C.-H. Yu and R. Nagpal, “Sensing-based shape formation tasks on modular multi-robot systems: A theoretical study,” in Proc. of AAMAS, 2008.
6. M. Yim, C. Eldershaw, Y. Zhang, and D. G. Duff, “Limbless conforming gaits with modular robots,” in Proc. of ISER, 2004.
7. 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, 2002.
8. A. Lyder, R. Garcia, and K. Stoy, “Mechanical design of odin, an extendable heterogeneous deformable modular robot,” in Proc. of IROS, 2008.
9. C.-H. Yu, K. Haller, D. Ingber, and R. Nagpal, “Morpho: A selfdeformable modular robot inspired by cellular structure,” in Proc. of IROS, 2008.
10. A. Kamimura, H. Kurokawa, E. Yoshida, S. Murata, K. Tomita, and S. Kokaji, “Distributed adaptive locomotion by a modular robotic system, m-tran ii,” in Proc. of IROS, 2004.
11. R. Moeckel, C. Jaquier, K. Drapel, A. Upegui, and A. Ijspeert, “Yamor and bluemove - an autonomous modular robot with bluetooth interface for exploring adaptive locomotion,” in Proc. of CLAWAR, 2005.
12. H. Bojinov, A. Casal, and T. Hogg, “Emergent structures in modular self-reconfigurable robots,” in Proc. of ICRA, 2000.
13. A. Jadbabaie, J. Lin, and A. Morse, “Coordination of groups of mobile autonomous agents using nearest neighbor rules,” IEEE Trans. on Automatic Control, 2002.
14. D. Lucarelli and I. Wang, “Decentralized synchronization protocols with nearest neighbor communication,” in Proc. of Sensys, 2004.
15. M. Schwager, J.-J. E. Slotine, and D. Rus, “Consensus learning for distributed coverage control,” in Proc. of ICRA, 2008.
16. S. Hirose, Biologically-Inspired Robots. Oxford Sci. Pub., 1993.
17. Online Appendix URL: http://www.eecs.harvard.edu/∼chyu/icra09appendix.pdf.