Abstract
In this paper, we address the issue of motion planning for a bipartite class of modular self-reconfiguring robotic system (I-Cubes) that is a collection of active elements providing reconfiguration (3-DOF manipulators called links) and passive elements acting as connectors (cubes). The links, capable of attaching/detaching themselves from/to cubes, can position and orient the cubes.
Current solutions for motion planning and reconfiguration of I-Cubes include multilayered planners that divide a given problem into tractable sub-problems to be evaluated using heuristic methods. The system implementation, its representation in simulation, search algorithms resulting from this representation, and simulation examples are presented.
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Ünsal, C., kilivççöte, H., Patton, M.E., Khosla, P.K. (2000). Motion Planning for a Modular Self-Reconfiguring Robotic System. In: Parker, L.E., Bekey, G., Barhen, J. (eds) Distributed Autonomous Robotic Systems 4. Springer, Tokyo. https://doi.org/10.1007/978-4-431-67919-6_16
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DOI: https://doi.org/10.1007/978-4-431-67919-6_16
Publisher Name: Springer, Tokyo
Print ISBN: 978-4-431-67991-2
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