Translation based Self Reconfiguration Algorithm for 6-lattice Modular Robots
| Autor: | Baptiste Buchi, Wahabou Abdou, Hakim Mabed, Frédéric Lassabe, Jaafar Gaber |
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| Přispěvatelé: | Laboratoire Systèmes et Transports (SET), Université de Technologie de Belfort-Montbeliard (UTBM)-Institut de Recherche sur les Transports, l'Energie et la Société - IRTES, Laboratoire d'Études et de Recherches sur les Matériaux, les Procédés et les Surfaces (IRTES - LERMPS), Université de Technologie Belfort-Montbéliard (UTBM), Université de Franche-Comté (UFC), Université Bourgogne Franche-Comté [COMUE] (UBFC)-Université Bourgogne Franche-Comté [COMUE] (UBFC), Laboratoire d'Informatique de Bourgogne [Dijon] (LIB), Université de Bourgogne (UB) |
| Jazyk: | angličtina |
| Rok vydání: | 2021 |
| Předmět: |
Self-reconfiguring modular robot
Network architecture Computer science business.industry Distributed computing [INFO.INFO-DS]Computer Science [cs]/Data Structures and Algorithms [cs.DS] Modular design Translation (geometry) Set (abstract data type) [SPI]Engineering Sciences [physics] Asynchronous communication Distributed algorithm [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering Robot [INFO]Computer Science [cs] [INFO.INFO-DC]Computer Science [cs]/Distributed Parallel and Cluster Computing [cs.DC] business [NLIN.NLIN-AO]Nonlinear Sciences [physics]/Adaptation and Self-Organizing Systems [nlin.AO] ComputingMilieux_MISCELLANEOUS |
| Zdroj: | 2021 20th International Symposium on Parallel and Distributed Computing (ISPDC) 2021 20th International Symposium on Parallel and Distributed Computing (ISPDC), Jul 2021, Cluj-Napoca, France. pp.49-56, ⟨10.1109/ISPDC52870.2021.9521628⟩ ISPDC |
| DOI: | 10.1109/ISPDC52870.2021.9521628⟩ |
| Popis: | Modular robot network architectures are experiencing growing popularity. The problem of automatically reconfiguring a set of modular robots into a given target shape presents a real challenge to distributed computing.Many works on the subject restrict the nature of the constructed target forms. The bolder approaches focus on reducing the number of overall required movements. In this work, we propose a distributed asynchronous self-reconfiguration algorithm allowing to distribute the effort made by each robot to reach the final shape. This makes it possible to extend the life of the network of micro-robots.We compare our TBSR algorithm with C2SR self-reconfiguration algorithm using VisibleSim simulator. The obtained results show that globally TBSR outperforms C2SR except for rare cases. The TBSR algorithm allows reducing the number of required moves up to 17%. Besides, the ability of TBSR to balance the number of moves over the modular robots makes that the maximum number of moves per robot is reduced up to 40%. |
| Databáze: | OpenAIRE |
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