Modelling, Simulation, and Planning for the MoleMOD System
MoleMOD is a heterogeneous self-reconfigurable modular robotic system to be employed in architecture and civil engineering. In this paper we present two components of the MoleMOD infrastructure - a test environment and a planning algorithm. The test environment for simulation and visualization of active parts as well as passive blocks of MoleMOD is based on Gazebo - a powerful general-purpose robotic simulator. The key effort has been put into preparation of realistic models of passive and active components taking into account their physical characteristics. Moreover, given a starting configuration of the MoleMOD system and a final configuration an approach to plan collision-free trajectories for a fleet of active parts is introduced.
KeywordsModelling Simulation Planning Self-reconfiguration Modular robotic systems
This work has been supported by the European Union’s Horizon 2020 research and innovation programme under grant agreement No 688117, and by the European Regional Development Fund under the project Robotics for Industry 4.0 (reg. no. CZ.02.1.01/0.0/0.0/15 003/0000470).
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