Graph signature for self-reconfiguration planning of modules with symmetry

In our previous works we had developed a framework for self-reconfiguration planning based on graph signature and graph edit-distance. The graph signature is a fast isomorphism test between different configurations and the graph edit-distance is a similarity metric. But the algorithm is not suitable...

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Bibliographic Details
Published in2009 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 5295 - 5300
Main Authors Asadpour, M., Ashtiani, M., Sproewitz, A., Ijspeert, A.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2009
Subjects
Algorithm design and analysis
Computational efficiency
Computational modeling
Intelligent robots
Orbital robotics
Stability
Switches
Table lookup
Testing
USA Councils
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ISBN9781424438037
1424438039
ISSN2153-0858
DOI10.1109/IROS.2009.5353943

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Summary:In our previous works we had developed a framework for self-reconfiguration planning based on graph signature and graph edit-distance. The graph signature is a fast isomorphism test between different configurations and the graph edit-distance is a similarity metric. But the algorithm is not suitable for modules with symmetry. In this paper we improve the algorithm in order to deal with symmetric modules. Also, we present a new heuristic function to guide the search strategy by penalizing the solutions with more number of actions. The simulation results show the new algorithm not only deals with symmetric modules successfully but also finds better solutions in a shorter time.
ISBN:9781424438037
1424438039
ISSN:2153-0858
DOI:10.1109/IROS.2009.5353943