Generalizing metamodules to simplify planning in modular robotic systems

Abstract. We address how to write programs for distributed computing systems in which the network topology can change dynamically. Examples of such systems, which we call ensembles, include programmable sensor networks (where the network topology can change due to failures in the nodes or links) and modular robotics systems (whose physical configuration can be rearranged under program control). We extend Meld [1], a logic programming language that allows an ensemble to be viewed as a single computing system. In addition to proving some key properties of the language, we have also implemented a complete compiler for Meld. It generates code for TinyOS [14] and for a Claytronics simulator [12]. We have successfully written correct, efficient, and complex programs for ensembles containing over one million nodes.

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“…al. [8] (a simplified version is shown in Fig. 6) and a localization algorithm provided by Funiak et.…”

Section: Analysis and Discussionmentioning

confidence: 99%

A Language for Large Ensembles of Independently Executing Nodes

et al. 2009

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“…Obecnie szereg, zarówno prywatnych jak i uniwersyteckich ośrodków badawczych [2][3][4][5][6][7][8][9] na świecie prowadzi prace nad systemami tego typu, co świadczy o dużym potencjale aplikacyjnym takich układów. Jednakże większość tych prac skoncentrowana jest na opracowaniu robotów modułowych zdolnych do tworzenia struktur dwuwymiarowych (2D), co znacząco ogranicza możliwość ich zastosowań [9].…”

Section: Cybernetyczna Komórka Artcellunclassified

“…Jednakże większość tych prac skoncentrowana jest na opracowaniu robotów modułowych zdolnych do tworzenia struktur dwuwymiarowych (2D), co znacząco ogranicza możliwość ich zastosowań [9]. Ponadto znaczna liczba obecnie opracowanych konstrukcji posiada tylko jeden stopień swobody w każdym z modułów co rów-nież znacząco wpływa na właściwości powstałego systemu.…”

Section: Cybernetyczna Komórka Artcellunclassified

Challenges in MSR Robots Design and Numerical Modeling Based On “ArtCell” – Cybernetic Cell Example

et al. 2015

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“…With the exception of such low-level interactions, all variable storage and messaging is handled by the LDP run time, allowing for extremely concise expression of distributed algorithms. plete shape planner, as described in Dewey et al (2008) is implemented in just 28 lines of LDP code.…”

Section: Programming Languages For Claytronicsmentioning

confidence: 99%

“…Unlike the face-to-face example, the claytronics material does not need to be Some snapshots of a trumpet being formed from an ensemble of one million catoms running a generalized metamodule planner (Dewey et al 2008) on our simulator. 8 other AI applications involving very large numbers of cooperating nodes.…”

Section: Pario Application Scenariosmentioning

confidence: 99%

Beyond Audio and Video: Using Claytronics to Enable Pario

Goldstein¹,

Mowry²,

Campbell³

et al. 2009

AI Magazine

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In this article we describe a concept for a new type of material, which we call claytronics , made out of very large numbers-potentially millionsof submillimeter-sized spherical robots. While still only a concept, we have completed a considerable amount of initial design and experimentation work, enough at this point to allow us to understand what is readily achievable within a short time frame (less than a decade) and also to identify some of the most significant technical challenges yet to be overcome. To date, we have developed and analyzed several promising engineering designs, conducted numerous large-scale experiments on a high-fidelity physics-based simulator, and successfully carried out several prototype three-dimensional (3D) microelectromechanical systems (MEMS) manufacturing runs. These experiences lead us to believe that there are no fundamental software or hardware barriers to realizing claytronics on a large scale and within a few years.While the most fundamental purpose of our research on claytronics is to understand manufacturing and programming of very large ensembles of independently actuated computing devices, it is also clear that such a material would have numerous practical applications, ranging from shape-shifting radio antennas (important for software-defined radios) to 3D fax machines. Perhaps our most fanciful-sounding application, however, is motivated by one of the most basic of human needs: to communicate and interact with others. Two centuries ago, the only practical way to carry on a real-time conversation with

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Generalizing metamodules to simplify planning in modular robotic systems

Cited by 50 publications

References 15 publications

A Language for Large Ensembles of Independently Executing Nodes

A Language for Large Ensembles of Independently Executing Nodes

Challenges in MSR Robots Design and Numerical Modeling Based On “ArtCell” – Cybernetic Cell Example

Beyond Audio and Video: Using Claytronics to Enable Pario

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