Abstract
Self-reconfigurable robots are versatile systems consisting of large numbers of independent modules. Effective use of these systems requires parallel actuation and planning, both for efficiency and independence from a central controller. This paper presents the PacMan algorithm, a technique for distributed actuation and planning. This algorithm works on systems with two- or three-dimensional unit-compressible modules. We give a simplified version of the algorithm along with extensions that handle a larger class of parallel actuation. For both algorithms, we present correctness analysis that show the classes of reconfigurations that can be guaranteed to be achieved. For the extensions, we give proofs of parallel actuation capability that describe how several modules can move simultaneously without synchronization while retaining correctness. We have successfully instantiated the basic algorithm onto the Crystal, a self-reconfigurable robot system, and present hardware experiments.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
Z. Butler, S. Byrnes, and D. Rus. Distributed motion planning for modular robots with unit-compressible modules. In Proc. of the InVl Conf. on Intelligent Robots and Systems, 2001.
Z. Butler, R. Fitch, and D. Rus. Experiments in distributed locomotion with a unit-compressible robot. In Proc. of the InVl Conf. on Intelligent Robots and Systems, pages 2813–8, 2002.
T. Fukuda and Y. Kawakuchi. Cellular robotic system (CEBOT) as one of the realization of self-organizing intelligent universal manipulator. In Proc. of IEEE ICRA, pages 662–7, 1990.
K. Kotay and D. Rus. Locomotion versatility through self-reconfiguration. Robotics and Autonomous Systems, 26: 217–32, 1999.
K. Kotay and D. Rus. Algorithms for self-reconfiguring molecule motion planning. In Proc. of the InVl Conf. on Intelligent Robots and Systems, 2000.
W. H. Lee and A. Sanderson. Dynamic analysis and distributed control of the tetrabot modular reconfigurable robot system. Autonomous Robots, 10 (1): 67–82, 2001.
S. Murata, H. Kurokawa, E. Yoshida, K. Tomita, and S. Kokaji. A 3-D self-reconfigurable structure. In Proc. of IEEE ICRA, pages 432–9, May 1998.
S. Murata, E. Yoshida, K. Tomita, H. Kurokawa, A. Kamimura, and S. Kokaji. Hardware design of modular robotic system. In Proc. of the InVl Conf. on Intelligent Robots and Systems, pages 2210–7, 2000.
A. Nguyen, L. Guibas, and M. Yim. Controlled module density helps reconfiguration planning. In Algorithmic and Computational Robotics: Proceedings of WAFR 2000, pages 23–35, 2000.
A. Pamecha, C-J. Chiang, D. Stein, and G. Chirikjian. Design and implementation of metamorphic robots. In Proc. of the 1996 ASME Design Engineering Technical Conf. and Computers in Engineering Conf., 1996.
A. Pamecha, I. Ebert-Uphoff, and G. Chirikjian. Useful metrics for modular robot motion planning. IEEE Trans, on Robotics and Automation, 13 (4): 531–45, 1997.
D. Rus and M. Vona. Crystalline robots: Self-reconfiguration with unit-compressible modules. Autonomous Robots, 10 (l): 107–24, 2001.
J. Suh, S. Homans, and M. Yim. Telecubes: Mechanical design of a module for self-reconfigurable robotics. In Proc. of IEEE ICRA, 2002.
K. Tomita, S. Murata, H. Kurokawa, E. Yoshida, and S. Kokaji. Self-assembly and self-repair method for a distributed mechanical system. IEEE Trans, on Robotics and Automation, 15 (6): 1035–45, Dec. 1999.
S. Vassilvitskii, M. Yim, and J. Suh. A complete, local and parallel reconfiguration algorithm for cube style modular robots. In Proc. of IEEE ICRA, 2002.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2004 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Butler, Z., Rus, D. (2004). Distributed Motion Planning for 3D Modular Robots with Unit-Compressible Modules. In: Boissonnat, JD., Burdick, J., Goldberg, K., Hutchinson, S. (eds) Algorithmic Foundations of Robotics V. Springer Tracts in Advanced Robotics, vol 7. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-45058-0_26
Download citation
DOI: https://doi.org/10.1007/978-3-540-45058-0_26
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-07341-0
Online ISBN: 978-3-540-45058-0
eBook Packages: Springer Book Archive