Modelling of Modular Robot Configurations Using Graph Theory

Baca, José; Yerpes, Ariadna; Ferré, Manuel; Escalera, Juan A.; Aracil, Rafaél

doi:10.1007/978-3-540-87656-4_80

Cited by 6 publications

(4 citation statements)

References 10 publications

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“…Future studies will address the verification of omnidirectional mobility based on the phasor-like notation and will assess the practical advantages and disadvantages of different modular robot configurations combining omni and mecanum wheels [23,65,66]. Additional work will also analyze the possibility of a direct application of the phasor-like notation to correct the systematic odometry errors of omnidirectional mobile robots [61].…”

Section: Conclusion and Future Scopementioning

confidence: 99%

Phasor-Like Interpretation of the Angular Velocity of the Wheels of Omnidirectional Mobile Robots

et al. 2023

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Omnidirectionality is a feature that allows motion in any direction without orientation maneuvers. Omnidirectional mobile robots are usually based on omni or mecanum wheels. The motion of an omnidirectional mobile robot is defined by a target motion command M=v,α,ω, where v is the module of the translational velocity; α is the angular orientation of the translational velocity, and ω is the angular velocity of the mobile robot. The motion is achieved by converting the target motion command into the target angular velocities that must be applied to the active wheels of the robot. This work proposes a simplified phasor-like interpretation of the relationship between the parameters of a specific motion command and the angular velocities of the wheels. The concept of phasor-like notation is validated from the analysis of the kinematics of omnidirectional mobile robots using omni wheels and mecanum wheels. This simplified phasor-like notation fosters unconstrained conceptual design of single-type and hybrid multi-wheeled omnidirectional mobile robots without the distribution or type of wheels being a design constraint.

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Section: Conclusion and Future Scopementioning

confidence: 99%

Phasor-Like Interpretation of the Angular Velocity of the Wheels of Omnidirectional Mobile Robots

et al. 2023

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“…Ref. [30] showed a graph-theorybased representation of multi-module configurations; this worked with explicitly defined docking-connection lists.…”

Section: Previous Workmentioning

confidence: 99%

Self-Assembly and Self-Repair during Motion with Modular Robots

2022

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Self-reconfigurable modular robots consist of multiple modular elements and have the potential to enable future autonomous systems to adapt themselves to handle unstructured environments, novel tasks, or damage to their constituent elements. This paper considers methods of self-assembly, bringing together robotic modules to form larger organism-like structures, and self-repair, removing and replacing faulty modules damaged by internal events or environmental phenomena, which allow group tasks for the multi-robot organism to continue to progress while assembly and repair take place. We show that such “in motion” strategies can successfully assemble and repair a range of structures. Previously developed self-assembly and self-repair strategies have required group tasks to be halted before they could begin. This paper finds that self-assembly and self-repair methods able to operate during group tasks can enable faster completion of the task than previous strategies, and provide reliability benefits in some circumstances. The practicality of these new methods is shown with physical hardware demonstrations. These results show the feasibility of assembling and repairing modular robots whilst other tasks are in progress.

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“…Robots effectively see its neighbors using sensor systems [6, Chapter 5] such as infrared or ultrasound sensors. Navigation of a robot can be studied in a graph-structured framework [1,2]. The navigating agent can be assumed to be a point robot which moves from node to node of a "graph space".…”

Section: Introductionmentioning

confidence: 99%

Graph theory general position problem

Manuel,

Klavžar

2017

Preprint

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The classical no-three-in-line problem is to find the maximum number of points that can be placed in the n×n grid so that no three points lie on a line. Given a set S of points in an Euclidean plane, the General Position Subset Selection Problem is to find a maximum subset S of S such that no three points of S are collinear. Motivated by these problems, the following graph theory variation is introduced: Given a graph G, determine a largest set S of vertices of G such that no three vertices of S lie on a common geodesic. Such a set is a gp-set of G and its size is the gp-number gp(G) of G. Upper bounds on gp(G) in terms of different isometric covers are given and used to determine the gp-number of several classes of graphs. Connections between general position sets and packings are investigated and used to give lower bounds on the gp-number. It is also proved that the general position problem is NP-complete.

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Modelling of Modular Robot Configurations Using Graph Theory

Cited by 6 publications

References 10 publications

Phasor-Like Interpretation of the Angular Velocity of the Wheels of Omnidirectional Mobile Robots

Phasor-Like Interpretation of the Angular Velocity of the Wheels of Omnidirectional Mobile Robots

Self-Assembly and Self-Repair during Motion with Modular Robots

Graph theory general position problem

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