Distributed aggregation for modular robots in the pivoting cube model
| Autor: | Sebastian Claici, Jeffrey I. Lipton, Kyle Gilpin, Stephane Bonardi, John Romanishin, Daniela Rus |
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| Rok vydání: | 2017 |
| Předmět: |
Self-reconfiguring modular robot
Structure (mathematical logic) 0209 industrial biotechnology Robot kinematics business.industry Computer science Distributed computing 02 engineering and technology Modular design 020901 industrial engineering & automation 0202 electrical engineering electronic engineering information engineering Robot 020201 artificial intelligence & image processing Cube business |
| Zdroj: | ICRA |
| Popis: | We present a distributed control strategy for the aggregation of multiple modular robots into one connected structure optimized for use with 3D modular pivoting cube robots such as the 3D M-Blocks [1]. We use the intensity from a light source as input to a decentralized control algorithm that drives the robots together. We describe the algorithm, give provable guarantees on convergence, and discuss experiments carried out in simulation and with a hardware platform of ten 3D M-Blocks modules. In this paper we contribute provably correct algorithms for the aggregation of generic modular robots; we show how these algorithms can be applied on real hardware by evaluating them on the 3D M-Blocks platform. |
| Databáze: | OpenAIRE |
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