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Distributed control for 3D metamorphosis

delete2001-01-01
delete145
PRE
AI
M
Mark Yim
Y
Ying Zhang
J
John Lamping
E
Enkai Mao
DOI：10.1023/A:1026544419097delete
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Abstract

Abstract

En 中文
In this paper, we define Proteo as a class of three-dimensional (3D) metamorphic robotic system capable of approximating arbitrary 3D shapes by utilizing repeated modules. Each Proteo module contains embedded sensors, actuators and a controller, and each resides in a 3D grid space. A module can move itself to one of its open neighbor sites under certain motion constraints. Distributed control for the self-reconfiguration of such robots is an interesting and challenging problem. We present a class of distributed control algorithms for the reconfiguration of Proteo robots based on the goal-ordering mechanism. Performance results are shown for experiments of these algorithms in a simulation environment, and the properties of these algorithms are analyzed.
Keywords:
metamorphic robots
distributed control of shape reconfiguration
motion constraints
goal ordering
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Journal

Autonomous Robots cover
Autonomous Robots
IF:
4.3
Papers:
1.7K
Citations:
5.0K

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