Programming for modular reconfigurable robots

Composed of multiple modular robotic units, self-reconfigurable modular robots are metamorphic systems that can autonomously rearrange the modules and form different configurations depending on dynamic environments and tasks. The goal of self-reconfiguration is to determine how to change connectivit...

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Bibliographic Details
Published inProgramming and computer software Vol. 38; no. 1; pp. 13 - 23
Main Authors Gorbenko, A. A., Popov, V. Yu
Format Journal Article
LanguageEnglish
Published Dordrecht SP MAIK Nauka/Interperiodica 01.01.2012
Springer Nature B.V
Subjects
Algorithms
Artificial Intelligence
Computer Science
Configurations
Graph matching
Modular systems
Modular units
Modules
Operating Systems
Reconfiguration
Robots
Software Engineering
Software Engineering/Programming and Operating Systems
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Summary:Composed of multiple modular robotic units, self-reconfigurable modular robots are metamorphic systems that can autonomously rearrange the modules and form different configurations depending on dynamic environments and tasks. The goal of self-reconfiguration is to determine how to change connectivity of modules to transform the robot from the current configuration to the goal configuration subject to restrictions of physical implementation. The existing reconfiguration algorithms use different methods, such as divide-and-conquer, graph matching, and the like, to reduce the reconfiguration cost. However, an optimal solution with a minimal number of reconfiguration steps has not been found yet. The optimal reconfiguration planning problem consists in finding the least number of reconfiguration steps transforming the robot from one configuration to another. This is an NP-complete problem. In this paper, we describe an approach to solve this problem. The approach is based on constructing logical models of the problem under study.
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ISSN:0361-7688
1608-3261
DOI:10.1134/S0361768812010033