Name
Abstract | ||
|---|---|---|
Modular, self-reconfigurable robots are robots that can change their own shape by physically rearranging the modules from which they are built. Self-reconfiguration can be controlled by e.g. an off-line planner, but numerous implementation issues hamper the actual self-reconfiguration process: the continuous evolution of the communication topology increases the risk of communications failure, generating code that correctly controls the self-reconfiguration process is non-trivial, and hand-tuning the self-reconfiguration process is tedious and error-prone. To address these issues, we have developed a distributed scripting language that controls self-reconfiguration of the ATRON robot using a robust communication scheme that relies on local broadcast of shared state. This language can be used as the target of a planner, offers direct support for parallelization of independent operations while maintaining correct sequentiality of dependent operations, and compiles to a robust and efficient implementation. Moreover, a novel feature of this language is its reversibility: once a self-reconfiguration sequence is described the reverse sequence is automatically available to the programmer, significantly reducing the amount of work needed to deploy self-reconfiguration in larger scenarios. We demonstrate our approach with long-running (reversible) self-reconfiguration experiments using the ATRON robot and a reversible self-reconfiguration experiment using simulated MTRAN modules. |
Year | DOI | Venue |
|---|---|---|
2009 | 10.1109/IROS.2009.5354346 | IROS |
Keywords | Field | DocType |
self-reconfiguration sequence,reversible self-reconfiguration experiment,numerous implementation issue,communication topology,self-reconfiguration process,efficient implementation,actual self-reconfiguration process,atron robot,scripting language,self-reconfiguration experiment,data mining,hardware,robustness,shape,topology,robust control,robots | Broadcasting,Programmer,Computer science,Robustness (computer science),Modular design,Robust control,Robot,Control reconfiguration,Distributed computing,Scripting language | Conference |
Citations | PageRank | References |
1 | 0.38 | 15 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Ulrik P. Schultz | 1 | 297 | 36.29 |
| Mirko Bordignon | 2 | 58 | 5.80 |
| Kasper Stoy | 3 | 97 | 8.38 |