Multiagent control of self-reconfigurable robots

Bojinov, Hristo; Casal, A.; Hogg, Tad

doi:10.1016/s0004-3702(02)00272-2

Cited by 54 publications

(45 citation statements)

References 32 publications

(41 reference statements)

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“…Distributed approaches include Digital-Hormone control [16,17], Role-Based control [18], and local search approaches such as [19]. Centralized approaches include gait-table control [1], and M-TRAN control system [5].…”

Section: Introductionmentioning

confidence: 99%

SUPERBOT: A Deployable, Multi-Functional, and Modular Self-Reconfigurable Robotic System

Salemi

Moll

Shen

2006

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

258

159

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-Self-reconfigurable robots are modular robots that can autonomously change their shape and size to meet specific operational demands. Recently, there has been a great interest in using self-reconfigurable robots in applications such as reconnaissance, rescue missions, and space applications. Designing and controlling self-reconfigurable robots is a difficult task. Hence, the research has primarily been focused on developing systems that can function in a controlled environment. This paper presents a novel self-reconfigurable robotic system called SuperBot, which addresses the challenges of building and controlling deployable self-reconfigurable robots. Six prototype modules have been built and preliminary experimental results demonstrate that SuperBot is a flexible and powerful system that can be used in challenging realworld applications.

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Section: Introductionmentioning

confidence: 99%

SUPERBOT: A Deployable, Multi-Functional, and Modular Self-Reconfigurable Robotic System

Salemi

Moll

Shen

2006

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

258

159

View full text Add to dashboard Cite

show abstract

“…The work in [46] developed a Melt-Grow algorithm where an initial configuration is melted into an intermediate configuration, and a goal configuration is grown out of the intermediate configuration. Similar approaches include agent-based approach [47], cellular automaton generator [48], and embedded graph grammar model [49].…”

Section: Reconfiguration Problemsmentioning

confidence: 99%

Resilient Robots: Concept, Review, and Future Directions

Zhang

Gupta

2017

Robotics

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This paper reviews recent developments in the emerging field of resilient robots and the related robots that share common concerns with them, such as self-reconfigurable robots. This paper addresses the identity of the resilient robots by distinguishing the concept of resilience from other similar concepts and summarizes the strategies used by robots to recover their original function. By illustrating some issues of current resilient robots in the design of control systems, physical architecture modules, and physical connection systems, this paper shows several of the possible solutions to facilitate the development of the new and improved robots with higher resilience. The conclusion outlines several directions for the future of this field.

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“…Each module interpreting rules in node rewriting . Self-reconfiguration of a robot system with 100 modules using the L-system in equation (8). Figure 10.…”

Section: Simulationsmentioning

confidence: 99%

Modeling the fractal development of modular robots

Bie

Liu

Zhao

et al. 2017

Advances in Mechanical Engineering

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Modeling and controlling self-reconfiguration of modular robots is still a challenging problem in the field of distributed control. The two main constrains are the design of target shapes and the absence of global state for decentralized modules. We present a new way for those two problems inspired from the developmental process of plant growth. As a mathematical theory of plant development, L-systems capture the essence of growth process. We extend L-systems to the self-reconfiguration process of modules robots. Target configurations will be described in a string of symbols, and robotic structures capture fractal characters through the rewriting function. Extended graphical interpretation of Lsystem symbols can generate module-level predictions about robotic global states. Simulations of different selfreconfiguration processes illustrate the proposed method.

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Multiagent control of self-reconfigurable robots

Cited by 54 publications

References 32 publications

SUPERBOT: A Deployable, Multi-Functional, and Modular Self-Reconfigurable Robotic System

SUPERBOT: A Deployable, Multi-Functional, and Modular Self-Reconfigurable Robotic System

Resilient Robots: Concept, Review, and Future Directions

Modeling the fractal development of modular robots

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