Self-Reconfigurable Hierarchical Frameworks for Formation Control of Robot Swarms

Zhang, Yuwei; Oğuz, Sinan; Wang, Shaoping; Garone, Emanuele; Wang, Xingjian; Dorigo, Marco; Heinrich, Mary Katherine

doi:10.1109/tcyb.2023.3237731

Cited by 13 publications

(3 citation statements)

References 39 publications

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“…A reasonable starting point is considering this problem for minimally generically rigid graphs in the two dimensional space. A hint for the solution is originated from the fact that any minimally (distance/bearing) generically rigid graph in the two dimensional space is a Laman graph and thus, can be constructed by a Henneberg construction [7,1,16,12,15]. Therefore, a feasible solution should be connected with the Henneberg construction and its correctness should be verifiable by the Laman's criterion.…”

Section: Introductionmentioning

confidence: 99%

Reconfiguration of four-degree limited Laman graphs

Trinh

2024

Preprint

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This paper considers the problem of expanding and reducing Laman graphs, of which each vertex has at most four neighbors. To this end, several simple algorithms which can be repeatedly applied to construct or degenerate a given four-degree limited Laman graph are proposed. The correctness of the proposed algorithms is asserted based on Laman’s criterion. The applicability and impacts of these algorithms are also discussed.

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Section: Introductionmentioning

confidence: 99%

Reconfiguration of four-degree limited Laman graphs

Trinh

2024

Preprint

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“…A reasonable starting point is considering this problem for minimally rigid graphs in the two dimensional space. A hint for the solution originates from the fact that any minimally (distance/bearing) rigid graph in the two dimensional space is a Laman graph and can be constructed by a Henneberg construction [4,1,11,8,10]. Therefore, a feasible solution should be related with the Henneberg con-Email address: minhtrinh@ieee.org (Minh Hoang Trinh).…”

Section: Introductionmentioning

confidence: 99%

Reconfiguration of four-degree limited Laman graphs

Trinh

2023

Preprint

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“…In general, modular reconfigurable robots are divided into two types: reconfigurable robots (RMRS) [1] and self-reconfigurable robots (SRMRS) [2], according to whether they can complete reconstruction autonomously. In this case, self-reconfigurable robots are divided into four types according to different unit modules: chain type, mobile type, crystal type, and hybrid type [3].…”

Section: Introductionmentioning

confidence: 99%

Design and Dynamic Simulation Verification of an On-Orbit Operation-Based Modular Space Robot

Yang,

Yue,

Guo

2023

Applied Sciences

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Space robots have been playing an important role in space on-orbit operation missions. However, the traditional configuration of space robots only has a single function and cannot meet the requirements of different space missions, and the launch cost of space robots is very high. Thus, the reconfigurable modular space robot system that can carry multiple loads and own mission adaptability is of great significance. Based on the analysis of a robot space mission, combined with the existing reconfigurable robots, this paper develops a configuration design scheme for a modular reconfigurable space robot, and carries out the prototype design. According to the configuration characteristics of the module, the dynamic modeling of the space robot is based on the graph theory analysis and principle of virtual work. Related application scenarios are set up. Function and feasibility of the dynamic modeling methods are verified through assembly experimentation and dynamic simulation.

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Self-Reconfigurable Hierarchical Frameworks for Formation Control of Robot Swarms

Cited by 13 publications

References 39 publications

Reconfiguration of four-degree limited Laman graphs

Reconfiguration of four-degree limited Laman graphs

Reconfiguration of four-degree limited Laman graphs

Design and Dynamic Simulation Verification of an On-Orbit Operation-Based Modular Space Robot

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