SearchUCSG: A fast coalition structure search algorithm for modular robot reconfiguration under uncertainty

Robotica

Volumn 32, Issue 2, 2014, Pages 225-244

  Dutta, Ayan ^a   Dasgupta, Prithviraj ^b   Baca, José ^b   Nelson, Carl ^b  

^a UNIVERSITY OF NEBRASKA AT OMAHA   (United States)

^b UNIVERSITY OF NEBRASKA LINCOLN   (United States)

Author keywords

Automation; DARS2012; Modular robots; Multi robot systems; Space robotics

Indexed keywords

AUTOMATION; DYNAMIC MODELS; LEARNING ALGORITHMS; MODULAR ROBOTS; OPTIMAL SYSTEMS; PROBLEM SOLVING; ROBOTICS; UNCERTAINTY ANALYSIS; COMPUTATION THEORY; GAME THEORY; MULTIPURPOSE ROBOTS; ROBOTS;

COOPERATIVE GAME THEORY; CURRENT CONFIGURATION; DARS2012; DYNAMIC RE-CONFIGURATION; MODEL UNCERTAINTIES; MODULAR SELF-RECONFIGURABLE ROBOTS; MULTI-ROBOT SYSTEMS; SPACE ROBOTICS;

CLUSTERING ALGORITHMS;

EID: 84898051493     PISSN: 02635747     EISSN: 14698668     Source Type: Journal    
DOI: 10.1017/S0263574714000095     Document Type: Conference Paper

References (24)

1. Z. Butler, S. Brynes and D. Rus, "Distributed Motion Planning for Modular Robots with Unit Decompressable Modules," IEEE/RSJ International Conference on Intelligent Robots and Systems (2001) pp. 790-796.
2. G. Chirikjian, A. Pamecha and I. Ebert-Uphoff, "Evaluating efficiency of self-reconfiguration in a class of modular robots," Robot. Syst. 13, 317-338 (1996).
3. K. Chu, S. G. M. Hossain and C. Nelson, "Design of a Four-DOF Modular Self-Reconfigurable Robot with Novel Gaits," ASME International Design Enggineering Technical Conferences (DETC2011-47746) (2011).
4. P. Dasgupta, V. Ufimtsev, C. Nelson and S. M. G. Mamur, "Dynamic Reconfiguration in Modular Robots Using Graph Partitioning-Based Coalitions," International Conference on Autonomous Agents and Multi-Agent Systems (AAMAS) (2012) pp. 121-128.
5. J. Evans, Optimization Algorithms for Networks and Graphs, Vol. 1 (CRC Press, Boca Raton, FL 1992).
6. S. M. G. Hossain, C. Nelson, P. Dasgupta, "RoGenSiD A Rotary-Plate Genderless Single-Sided Docking Mechanism for Modular Self-Reconfigurable Robots, ASME 2013 International Design Engineering Technical Conferences (ASME IDETC) (Aug. 4-7, 2013).
7. A. Kamimura, E. Yoshida, S. Murata, H. Hurokawa, K. Tomita and S. Kokaji, "Distributed Self-Reconfiguration of M-TRAN III Modular Robotic System," Intl. J. Robot. 27(1), 373-386 (2008).
8. P. Meier, "Variance of a weighted mean," Biometrics 9(1), 59-73 (1953).
9. R. Myerson, Game Theory: Analysis of Conflict (Harvard University Press, Cambridge, MA, 1997).
10. M. Narendra and K. Fukunaga, "A branch and bound algorithm for feature subset selection," IEEE Trans. Comput. 100(9), 917-922 (1977).
11. T. Rahwan and N. Jennings, "An Improved Dynamic Programming Algorithm for Coalition Structure Generation," Proceedings of the 7th International Joint Conference on Autonomous Agents and Multiagent Systems, Vol. 3 (2008) pp. 1417-1420.
12. T. Rahwan, S. Ramchurn, N. Jennings and A. Giovannucci, "An anytime algorithm for optimal coalition structure generation," J. Artif. Intell. Res. (JAIR) 34, 521-567 (2009).
13. Z. Ramaekers, P. Dasgupta, V. Ufimtsev, S. G. M. Hossain and C. Nelson, "Self-Reconfiguration in Modular Robots Using Coalition Games with Uncertainty," Proceedings of the Automated Action Planning for Autonomous Mobile Robots Workshop (2011).
14. S. Ramchurn, M. Polukarov, A. Farinelli, C. Truong and N. Jennings, "Coalition Formation with Spatial and Temporal Constraints," Proceedings of the 9th International Conference on Autonomous Agents and Multiagent Systems (2010) pp. 1181-1188.
15. M. Rosa, S. Goldstein, P. Lee, J. Campbell and P. Pillai, "Scalable Shape Sculpturing via Hole Motions," Proceedings of 2006 IEEE International Conference on Robotics and Automation, Orlando, FL (2006) pp. 1462-1468.
16. M. Rothkopf, A. Pekec and R. Harstad, "Computationally manageable combinational auctions," Manage. Sci. 44(8), 1131-1147 (1998).
17. S. Russell and P. Norvig, Artificial Intelligence: A Modern Approach (MIT Press, Cambridge, MA, 2008).
18. T. Sandholm, K. Larson, M. Andersson, O. Shehory and F. Tohme, "Coalition structure generation with worst case guarantees," Artif. Intell. 111(1-2), 209-238 (1999).
19. S. Sen and P. S. Dutta "Searching for Optimal Coalition Structures," Proceedings of Fourth International Conference on Multi-Agent Systems (2000) pp. 287-292.
20. O. Shehory and S. Kraus, "Methods for task allocation via agent coalition formation," Artif. Intell. 101(1), 165-200 (1998) (Elsevier).
21. K. Stoy,D.Brandt andD.Christensen, Self-Reconfigurable Robots: An Introduction (MIT Press, Cambridge, MA, 2010).
22. D. Winter, Biomechanics and Motor Control of Human Gait: Normal, Elderly and Pathological (Waterloo Biomechanics, Ontario Canada, 1991). ISBN 0-88898-105-8.
23. M. Yim et al., "Modular self-reconfigurable robot systems: Challenges and opportunities for the future," IEEE Robot. Autom. Mag. 14(1), 43-53 (2007).
24. S. Zilberstein, "Using Anytime Algorithms in Intelligent Systems," AI Mag. 17(3), 73 (1996).