Heterogeneous Multi-Robot Systems

Levi, Paul; Kernbach, Serge

doi:10.1007/978-3-642-11692-6_3

Cited by 6 publications

(2 citation statements)

References 0 publications

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“…L-systems are introduced for describing the topology of target configuration and CA for local motion planning. Besides the use of L-systems for description of target configuration, 35 the main novelty of this work is combining cluster-flow locomotion by CA and local predictions by interpreting global description by L-systems for distributed self-reconfiguration of modular robots.…”

Section: Resultsmentioning

confidence: 99%

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L-systems driven self-reconfiguration of modular robots

Bie

Zhu

Wang

et al. 2016

International Journal of Advanced Robotic Systems

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In the domain of modular self-reconfigurable robotic systems, self-reconfiguration is known to be a highly challenging task. This article presents a novel algorithm for distributed self-reconfiguration by combining cellular automata and L-systems. Cellular automata is used to handle the relative motion planning of decentralized modules. L-systems are introduced to provide a topological description for the target configuration. The turtle interpretation is extended to modular robotics to generate local predictions for distributed modules from global description. Local predictions spread out in the system through gradient propagation. Modules, using cellular automata rules managing local motion, climb gradient to the expanding fronts for constructing global configurations. Both simulations and experiments have demonstrated the practical effectiveness of the proposed algorithm.

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Section: Resultsmentioning

confidence: 99%

“…Compared with other MSR roboticmodules with wheels, 12,34,35 this module achieves all motion of sliding cube model (SCM) in two dimensions by pivoting and robots can move as a wheel system. As shown in Figure 2, a single module contains one servo, a DC motor, and a wheel.…”

Section: The Reconfigurable Mobile Robotmentioning

confidence: 99%